--- 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,
  9.49944455e-02,-6.99993172e-02, 1.30007384e-01, 9.99999999e-01,
 -4.97913414e-06,-4.10158960e-05,-5.15732775e-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,
 -1.38862036e+00, 1.70701461e-01, 1.84592837e+00,-2.48956707e+00,
 -2.05079480e+01,-2.57866388e-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,-4.90500000e+00,-7.18657908e-03,
 -1.23980502e-03, 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,
  9.49835314e-02,-6.99979755e-02, 1.30020480e-01, 9.99999993e-01,
 -1.47572241e-05,-1.21562665e-04,-1.52825428e-06]

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,
 -1.33990175e+00, 1.64720261e-01, 1.42804117e+00,-2.39947794e+00,
 -1.97654365e+01,-2.48394363e-01]

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: -0.0009910812494575475
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.95113652e-14,  7.68122965e-07,  1.00000000e+00, -4.57120463e-20,
        1.00000000e+00, -7.68122965e-07, -1.00000000e+00,  6.01853108e-36,
        5.95113652e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334707, -0.06970712,  0.06196937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.53753341e-07, 1.10519309e-07,-4.90500537e+00,-7.18627385e-03,
 -1.23727928e-03, 6.33285739e-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,
  9.49800257e-02,-7.00021544e-02, 1.30037001e-01, 9.99999989e-01,
  1.54486597e-05,-1.46651995e-04,-6.34819064e-06]

qacc:
[  -5.28388049, -21.18464848,  44.13273186, -79.25520855,  16.25178444,
  -32.48340923,  74.81920429,-123.22468089,  17.57309463,   1.21466895,
  -71.89513812, 194.97922083, 456.86050267,-124.86223817, 159.16218419,
  -43.54843697,   1.85208995,  -1.38013646,   0.856337  ,  19.99171301,
   27.72877773,  -1.90572849]

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: -0.0009793469915719138
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13363602e-13,  5.66818009e-14,  1.00000000e+00, -6.42565312e-27,
        1.00000000e+00, -5.66818009e-14, -1.00000000e+00,  0.00000000e+00,
        1.13363602e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0821951 , -0.05831526,  0.06196974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.36091907e-06, 4.25747027e-07,-4.90502073e+00,-7.18567564e-03,
 -1.23231968e-03, 1.92701435e-06]


--- 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,
  9.49837099e-02,-7.00116946e-02, 1.30055689e-01, 9.99999989e-01,
  8.44430992e-05,-1.18002103e-04,-1.48767738e-05]

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,   1.79749282,  -1.340347  ,   0.54167915,  19.39383508,
   26.8697059 ,  -1.85758266]

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: -0.0009627616503052605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41893348e-14, -1.15316499e-13,  1.00000000e+00, -1.63626440e-27,
        1.00000000e+00,  1.15316499e-13, -1.00000000e+00,  0.00000000e+00,
       -1.41893348e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08219186, -0.05831254,  0.06197025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.67147238e-08, 9.69744600e-07,-4.90500495e+00,-7.18750954e-03,
 -1.23071088e-03, 1.95678981e-06]


--- 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,
  9.49802148e-02,-7.00094250e-02, 1.30073769e-01, 9.99999987e-01,
  6.84554436e-05,-1.45984730e-04,-3.14713758e-05]

qacc:
[-1.39242982e+01,-1.48083999e+01, 4.45116951e+01,-7.63083677e+01,
  1.93451069e+01,-2.83317326e+01, 9.37401800e+01,-1.55809494e+02,
  1.12615054e+01, 5.27481138e+00,-6.26329863e+01, 1.79671957e+02,
  2.95280803e+02,-1.09105656e+02, 6.53046381e+01,-1.27963722e+02,
 -1.79484842e+00, 2.95245401e+00,-1.51839698e-01,-4.24911016e+01,
 -2.83172324e+01,-4.02560429e+00]

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: -0.000944521189828143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.87717373e-14,  2.93858686e-14,  1.00000000e+00, -1.72705855e-27,
        1.00000000e+00, -2.93858686e-14, -1.00000000e+00,  0.00000000e+00,
        5.87717373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836328, -0.09290807,  0.06197081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.40628066e-06, 3.02535064e-06,-4.90501742e+00,-7.19183126e-03,
 -1.23226961e-03, 2.38793195e-06]


--- 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,
  9.49764037e-02,-7.00033909e-02, 1.30095157e-01, 9.99999983e-01,
  2.45688442e-05,-1.76121967e-04,-4.83591547e-05]

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,
 -7.89856324e-02, 9.41138807e-01, 8.26775368e-01,-1.39494592e+01,
 -1.07775375e+00,-1.44478269e-01]

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: -0.0009248281846905422
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62751037e-07,  1.20544648e-13,  1.00000000e+00, -3.16732314e-20,
        1.00000000e+00, -1.20544648e-13, -1.00000000e+00,  6.01853108e-36,
        2.62751037e-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([ 0.09526719, -0.07559918,  0.06197142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.72356532e-07, 1.90339676e-06,-4.90500357e+00,-7.19069618e-03,
 -1.23093584e-03, 2.37871937e-06]


--- 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,
  9.49795622e-02,-7.00025880e-02, 1.30117546e-01, 9.99999986e-01,
  1.79125808e-05,-1.53242993e-04,-6.84301788e-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,   1.74239541,  -1.30780645,   0.2503648 ,  18.61360544,
   26.50896667,  -1.59555227]

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: -0.0009051539633915112
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50924019e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.50924019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218191, -0.05830222,  0.06197203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.20927919e-06, 3.38435761e-06,-4.90500918e+00,-7.18798020e-03,
 -1.22930081e-03, 2.91407588e-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,
  9.49895497e-02,-7.00069040e-02, 1.30140086e-01, 9.99999992e-01,
  4.77623940e-05,-7.86726436e-05,-9.17012104e-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,
  1.70725029e+00,-1.27971120e+00, 3.77701199e-02, 1.82510242e+01,
  2.58469076e+01,-1.60326374e+00]

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: -0.0008823287374324779
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.17029412e-14,  6.29143639e-14,  1.00000000e+00, -1.99457038e-27,
        1.00000000e+00, -6.29143639e-14, -1.00000000e+00,  0.00000000e+00,
        3.17029412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217794, -0.05829815,  0.06197273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.14539936e-07,-1.13313255e-06,-4.90500143e+00,-7.18778104e-03,
 -1.23042633e-03, 2.21139843e-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,
  9.49926730e-02,-6.99998687e-02, 1.30160419e-01, 9.99999991e-01,
 -3.32740464e-06,-5.90144419e-05,-1.22049442e-04]

qacc:
[  -8.18467016,  -9.25786915,  41.15440248, -73.66202665,  12.66827661,
  -18.71580158,  74.06910053,-115.11067528,  15.14952366,   6.2824022 ,
  -51.10870233, 161.4687211 ,  83.56211911, -69.15204975,  27.0619981 ,
  -91.32148203,  -1.71605028,   2.83780791,  -0.55180103, -40.4675661 ,
  -27.45995386,  -3.53410484]

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: -0.0008594856955193297
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.45864748e-14,  3.22932374e-14,  1.00000000e+00, -2.08570636e-27,
        1.00000000e+00, -3.22932374e-14, -1.00000000e+00,  0.00000000e+00,
        6.45864748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1083784 , -0.09294282,  0.06197344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.57981449e-06,-4.11597800e-06,-4.90501907e+00,-7.18990681e-03,
 -1.23462530e-03, 1.82591503e-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,
  9.49908942e-02,-6.99922115e-02, 1.30182476e-01, 9.99999984e-01,
 -5.82802564e-05,-7.47743704e-05,-1.52703542e-04]

qacc:
[-1.13421796e+01,-7.99115328e+00, 3.33175751e+01,-4.97056497e+01,
  1.29199065e+01,-1.72959669e+01, 7.03761946e+01,-1.10331899e+02,
  2.06693747e+01, 5.27332330e+00,-4.61875187e+01, 1.53843665e+02,
  4.80635768e+01,-6.58403602e+01, 2.66387955e+01,-9.16535337e+01,
 -1.22551653e+00, 1.55485612e-01, 4.30876387e-01,-1.92937418e+00,
 -1.77093003e+01,-1.52879953e-01]

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([ 8.18160799, -1.13161555,  8.10297202, -1.13161555, 73.25579474,
        9.08789532,  8.10297202,  9.08789532,  9.4507724 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008377391021481337
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62885001e-14,  1.01606051e-06,  1.00000000e+00, -9.78349421e-20,
        1.00000000e+00, -1.01606051e-06, -1.00000000e+00, -1.20370622e-35,
        9.62885001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10336845, -0.06971198,  0.06197411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.43886134e-06, 5.86669828e-07,-4.90500877e+00,-7.18649748e-03,
 -1.23689362e-03, 5.78486010e-07]


--- 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,
  9.49871830e-02,-6.99951211e-02, 1.30203109e-01, 9.99999978e-01,
 -3.54923453e-05,-1.03280486e-04,-1.79544126e-04]

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,  -0.48309786,  -2.64172487,  -0.35582941,  38.87149659,
   -6.36726908,   1.90348044]

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([ 8.07517342, -1.9833914 ,  7.8278084 , -1.9833914 , 68.76357896,
       15.37708332,  7.8278084 , 15.37708332, 11.97138208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008186269784787453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35620136e-13,  6.78100682e-14,  1.00000000e+00, -9.19641070e-27,
        1.00000000e+00, -6.78100682e-14, -1.00000000e+00,  0.00000000e+00,
        1.35620136e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09835039, -0.04643159,  0.0619747 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.50569518e-06, 4.52446485e-06,-4.90501040e+00,-7.18287640e-03,
 -1.23598155e-03, 1.12922993e-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,
  9.49818456e-02,-7.00082721e-02, 1.30221796e-01, 9.99999967e-01,
  6.25354774e-05,-1.42633762e-04,-2.03224832e-04]

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,  -0.40655574,  -2.56032964,  -0.48664437,  37.62109195,
   -5.41688137,   1.57586034]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007967134445969379
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49091408e-08, -2.49090156e-08,  1.00000000e+00, -6.20462175e-16,
        1.00000000e+00,  2.49090156e-08, -1.00000000e+00,  0.00000000e+00,
       -2.49091408e-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([ 0.09782026, -0.04681425,  0.06197538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.63627398e-06, 3.22833694e-06,-4.90500482e+00,-7.18423504e-03,
 -1.23316497e-03, 1.23601850e-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,
  9.49763116e-02,-7.00179134e-02, 1.30242239e-01, 9.99999948e-01,
  1.34370841e-04,-1.83790240e-04,-2.27072263e-04]

qacc:
[-1.68775266e+00,-1.07423898e+01, 4.73233147e+01,-7.76960316e+01,
  1.38266956e+01,-2.03191074e+01, 8.61796247e+01,-1.40087308e+02,
  1.67729536e+01, 6.92817379e+00,-4.45771694e+01, 1.33295347e+02,
 -2.86576925e+01,-2.62071609e+01, 2.24930641e+01,-7.84239784e+01,
 -4.91494996e-02, 8.77427424e-01, 4.39070713e-01,-1.30960574e+01,
 -9.04268737e-01,-8.14387427e-02]

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: -0.0007767367233547158
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24836801e-14,  2.18170593e-08,  1.00000000e+00,  1.14503956e-21,
        1.00000000e+00, -2.18170593e-08, -1.00000000e+00,  0.00000000e+00,
       -5.24836801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509768, -0.07539042,  0.061976  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.71858258e-06, 9.89619546e-06,-4.90503600e+00,-7.19025586e-03,
 -1.22999105e-03, 1.22546593e-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,
  9.49640680e-02,-7.00164900e-02, 1.30259577e-01, 9.99999920e-01,
  1.26888232e-04,-2.78351533e-04,-2.58112958e-04]

qacc:
[  -7.00432324,  -7.95746547,  35.40862804, -55.49175496,  16.17763087,
  -19.71583209,  86.00951799,-145.26362402,  12.01210137,   7.53423015,
  -50.51892695, 153.77489277, -46.25533786, -14.58957184,  25.4083271 ,
  -87.92395077,  -1.67740569,   2.76617947,  -0.77611925, -39.6535817 ,
  -26.71189572,  -3.5857558 ]

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([ 7.68678647,  5.42562135, -5.44511885,  5.42562135, 24.98952614,
       17.24078323, -5.44511885, 17.24078323, 24.86583513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000758508192641616
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.65923215e-14,  1.82961607e-14,  1.00000000e+00, -6.69498995e-28,
        1.00000000e+00, -1.82961607e-14, -1.00000000e+00,  0.00000000e+00,
        3.65923215e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10839487, -0.09298423,  0.06197656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.48908759e-06, 6.91292719e-06,-4.90502245e+00,-7.19466620e-03,
 -1.22772245e-03, 2.23132323e-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,
  9.49586134e-02,-7.00202230e-02, 1.30277000e-01, 9.99999894e-01,
  1.55038684e-04,-3.20327747e-04,-2.91709509e-04]

qacc:
[-7.29038230e+00,-7.97044335e+00, 3.55985041e+01,-5.60778945e+01,
  1.14398556e+01,-1.51968547e+01, 6.51896373e+01,-1.02311830e+02,
  8.93451364e+00, 6.52639844e+00,-4.44990715e+01, 1.38469812e+02,
 -6.06790693e+01,-4.95860855e+00, 2.81452943e+01,-9.70802484e+01,
  1.69725138e+00,-1.28912030e+00, 2.12302135e-02, 1.78093873e+01,
  2.62969740e+01,-1.28622311e+00]

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([ 7.56067109, -4.07150716,  6.37075951, -4.07150716, 55.08747018,
       30.3740398 ,  6.37075951, 30.3740398 , 26.97250423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000740957244018306
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.74590786e-14, -1.49836314e-13,  1.00000000e+00,  5.61273027e-27,
        1.00000000e+00,  1.49836314e-13, -1.00000000e+00,  0.00000000e+00,
        3.74590786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215618, -0.05826963,  0.0619771 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.01980275e-06, 1.00544478e-05,-4.90503037e+00,-7.19380034e-03,
 -1.22277364e-03, 4.51020124e-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,
  9.49598453e-02,-7.00290251e-02, 1.30293883e-01, 9.99999874e-01,
  2.18483595e-04,-3.10960199e-04,-3.28028508e-04]

qacc:
[-4.28614602e+00,-7.93686618e+00, 3.55163259e+01,-5.60630278e+01,
  8.42358711e+00,-1.58735956e+01, 6.53258603e+01,-9.57142990e+01,
  7.05530437e+00, 6.26653293e+00,-4.37690352e+01, 1.37535784e+02,
 -7.23303622e+01,-4.21061812e+00, 2.95484318e+01,-1.01807352e+02,
  1.67161455e+00,-1.26725237e+00,-1.35116900e-01, 1.76393020e+01,
  2.56768166e+01,-1.37085634e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007239529906154368
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.66778395e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.66778395e-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([ 0.08215391, -0.05826592,  0.06197763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.45986048e-06, 5.68971882e-06,-4.90500917e+00,-7.19584040e-03,
 -1.21964876e-03, 4.69671626e-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,
  9.49543321e-02,-7.00266620e-02, 1.30307906e-01, 9.99999847e-01,
  2.02749076e-04,-3.56088029e-04,-3.70808371e-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, -1.68624194,  2.79127073, -0.7149592 ,-39.58177579,
 -27.26137949, -3.21216813]

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([ 7.30667465,  4.09609143, -6.05058092,  4.09609143, 48.36317134,
       27.79421784, -6.05058092, 27.79421784, 26.12266256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000707318658456621
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.84811069e-14, -1.96202767e-14,  1.00000000e+00,  1.53982103e-27,
        1.00000000e+00,  1.96202767e-14, -1.00000000e+00,  0.00000000e+00,
        7.84811069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840208, -0.09300612,  0.06197814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.84030279e-06, 2.93080847e-06,-4.90501295e+00,-7.20011377e-03,
 -1.21959519e-03, 5.15594780e-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,
  9.49555684e-02,-7.00294467e-02, 1.30321854e-01, 9.99999828e-01,
  2.22414882e-04,-3.48563860e-04,-4.16011189e-04]

qacc:
[-7.31952543e+00,-8.71371747e+00, 3.81376561e+01,-5.89942221e+01,
  1.02773754e+01,-1.35446365e+01, 5.64920261e+01,-8.41806933e+01,
  1.60831931e+01, 8.80422186e+00,-5.22671277e+01, 1.49800544e+02,
 -8.86996839e+01, 8.85343483e+00, 2.12755619e+01,-7.32330903e+01,
  1.68733010e+00,-1.28693736e+00,-1.87834309e-02, 1.76899658e+01,
  2.63323147e+01,-1.22311697e+00]

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([ 7.19325855, -3.93360211,  6.02243663, -3.93360211, 44.8629436 ,
       24.60425264,  6.02243663, 24.60425264, 23.2637207 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006928393298669261
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.01212472e-14, -2.40363742e-13,  1.00000000e+00,  1.92582428e-26,
        1.00000000e+00,  2.40363742e-13, -1.00000000e+00,  0.00000000e+00,
        8.01212472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215028, -0.05825881,  0.06197859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.11494320e-06, 7.67389548e-06,-4.90500850e+00,-7.19865758e-03,
 -1.21818683e-03, 5.79452477e-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,
  9.49565990e-02,-7.00287536e-02, 1.30337102e-01, 9.99999811e-01,
  2.16653541e-04,-3.43001334e-04,-4.61339250e-04]

qacc:
[-1.33705995e+01,-8.55052790e+00, 3.71776667e+01,-5.71424011e+01,
  1.36398615e+01,-1.36074684e+01, 5.74728422e+01,-8.77087953e+01,
  1.43161865e+01, 6.02955303e+00,-4.10584572e+01, 1.29079142e+02,
 -9.40499597e+01, 1.71681588e+01, 2.59702155e+01,-8.88772181e+01,
 -5.13889448e-02, 8.69475032e-01, 3.24810183e-01,-1.27131856e+01,
 -9.86123592e-01,-5.79708614e-02]

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([ 7.07792952,  3.73344876, -6.01318939,  3.73344876, 45.12245306,
       23.62095552, -6.01318939, 23.62095552, 21.74362876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006783671668257551
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21938719e-14, -3.35766251e-07,  1.00000000e+00,  1.41672782e-20,
        1.00000000e+00,  3.35766251e-07, -1.00000000e+00,  3.00926554e-36,
        4.21938719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509778, -0.07540027,  0.06197904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.16076113e-06, 7.34436486e-07,-4.90500125e+00,-7.20035177e-03,
 -1.21792446e-03, 5.60068081e-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,
  9.49574256e-02,-7.00246254e-02, 1.30353140e-01, 9.99999797e-01,
  1.85780271e-04,-3.39299434e-04,-5.06804231e-04]

qacc:
[-1.38922513e+01,-7.41378067e+00, 3.28208137e+01,-5.14795416e+01,
  1.55902161e+01,-1.14386498e+01, 4.69750661e+01,-6.53901766e+01,
  9.93523821e+00, 6.66578413e+00,-4.35892666e+01, 1.31519122e+02,
 -9.78591972e+01, 1.98703720e+01, 2.97157418e+01,-1.01653250e+02,
 -5.10015039e-02, 8.58750552e-01, 1.97867927e-01,-1.25555563e+01,
 -9.36119980e-01,-6.39513903e-02]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006630591042923452
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05517603e-14, -2.06784215e-07,  1.00000000e+00, -8.38546394e-21,
        1.00000000e+00,  2.06784215e-07, -1.00000000e+00, -1.50463277e-36,
       -4.05517603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509764, -0.07540199,  0.06197951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.82996293e-07, 7.35257455e-07,-4.90499998e+00,-7.19997562e-03,
 -1.21879913e-03, 5.45788352e-06]


--- 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,
  9.49648184e-02,-7.00254940e-02, 1.30368001e-01, 9.99999788e-01,
  1.89521515e-04,-2.84706825e-04,-5.54789719e-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,   1.6415392 ,  -1.24920812,  -0.29454169,  17.29392957,
   25.45388774,  -1.27085146]

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([ 6.82743993, -3.80165928,  5.67109537, -3.80165928, 44.69382543,
       25.38400195,  5.67109537, 25.38400195, 23.84378693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006475721459816702
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57219563e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.57219563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0821454 , -0.05824832,  0.06197999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.23189629e-06, 1.67024030e-06,-4.90500273e+00,-7.19805358e-03,
 -1.21955793e-03, 5.30021401e-06]


--- 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,
  9.49656248e-02,-7.00153964e-02, 1.30379249e-01, 9.99999768e-01,
  1.16268315e-04,-2.84046312e-04,-6.08466506e-04]

qacc:
[  -4.83516742,  -8.18150295,  35.36822866, -54.59977953,   6.1739417 ,
  -16.18785611,  68.8940679 ,-111.62571631,  13.43658377,   4.36197257,
  -31.61698371, 103.56824085,-101.67047044,  17.74942184,  23.76499377,
  -81.47838393,  -1.64661215,   2.74157799,  -0.90295474, -38.48306286,
  -26.98794109,  -2.8295809 ]

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([ 6.70362319,  3.76706166, -5.54507082,  3.76706166, 37.1391188 ,
       20.67645163, -5.54507082, 20.67645163, 20.75023698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006325732203783935
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38772536e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.38772536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.108409  , -0.09304118,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37558878e-06,-6.49714716e-06,-4.90500750e+00,-7.19882146e-03,
 -1.22217767e-03, 4.62892545e-06]


--- 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,
  9.49731183e-02,-7.00104083e-02, 1.30390085e-01, 9.99999750e-01,
  7.79172868e-05,-2.30764097e-04,-6.64348264e-04]

qacc:
[ 8.42567172e-01,-7.65006185e+00, 3.34855948e+01,-5.21081827e+01,
  4.56550789e+00,-1.16503440e+01, 5.09724949e+01,-8.20626195e+01,
  9.24420286e+00, 4.61508597e+00,-3.37427280e+01, 1.09422257e+02,
 -1.02029007e+02, 1.89798434e+01, 2.12170927e+01,-7.25174596e+01,
  1.67178470e+00,-1.27738663e+00,-1.03148555e-01, 1.74347596e+01,
  2.63213352e+01,-1.11050037e+00]

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([ 6.61321551, -3.64713066,  5.51661647, -3.64713066, 38.96095322,
       21.38564949,  5.51661647, 21.38564949, 20.75163866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006216812060038518
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92919887e-14, -8.92919887e-14,  1.00000000e+00,  7.97305925e-27,
        1.00000000e+00,  8.92919887e-14, -1.00000000e+00,  0.00000000e+00,
        8.92919887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08214335, -0.05824182,  0.06198079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.20267547e-05, 5.92260511e-06,-4.90501632e+00,-7.19373281e-03,
 -1.22413833e-03, 4.32669240e-06]


--- 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,
  9.49872333e-02,-7.00104569e-02, 1.30400042e-01, 9.99999728e-01,
  7.43064761e-05,-1.26008949e-04,-7.22664390e-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,   1.65538833,  -1.2591786 ,  -0.21991964,  17.35272569,
   25.74790463,  -1.22319912]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006103740952825149
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.81892225e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.81892225e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08214264, -0.05823882,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.47757935e-06,-6.24031343e-06,-4.90501108e+00,-7.19201907e-03,
 -1.22658021e-03, 3.00501193e-06]


--- 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,
  9.49946698e-02,-6.99993126e-02, 1.30407032e-01, 9.99999688e-01,
 -7.32847526e-06,-7.66785297e-05,-7.86246769e-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,  -1.66963558,   2.79821742,  -0.74152145, -38.99236423,
  -27.74074604,  -2.62615721]

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([ 6.42820613,  3.63749674, -5.3000426 ,  3.63749674, 33.32828879,
       18.46192009, -5.3000426 , 18.46192009, 19.09889186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000599484822145932
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62990464e-14,  2.31495232e-14,  1.00000000e+00, -1.07180085e-27,
        1.00000000e+00, -2.31495232e-14, -1.00000000e+00,  0.00000000e+00,
        4.62990464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840901, -0.09305903,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -8.73428777e-07,-1.67198671e-05,-4.90502999e+00,-7.19249375e-03,
 -1.23211885e-03, 1.95036683e-06]


--- 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,
  9.50003711e-02,-6.99986878e-02, 1.30413107e-01, 9.99999642e-01,
 -1.11910640e-05,-3.60487363e-05,-8.45165377e-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, -0.43380219, -2.62987317, -0.22883779, 38.88976851,
  -4.31975492,  2.32886914]

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([ 6.36253446, -1.29765169,  6.22879963, -1.29765169, 43.24891566,
        7.68457449,  6.22879963,  7.68457449,  7.96346909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005916197532147751
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09596270e-07,  2.09596390e-07,  1.00000000e+00, -4.39306216e-14,
        1.00000000e+00, -2.09596390e-07, -1.00000000e+00, -6.31088724e-30,
        2.09596270e-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([ 0.09786174, -0.04674873,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.84318219e-05,-2.52232590e-06,-4.90502561e+00,-7.18678768e-03,
 -1.23749516e-03, 5.72701210e-08]


--- 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,
  9.50041088e-02,-7.00085861e-02, 1.30417583e-01, 9.99999593e-01,
  6.25810821e-05,-6.86761135e-06,-8.99537706e-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, -0.49090597, -2.63076684, -0.39981016, 38.82227348,
  -5.69155061,  2.27167381]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005860121397798235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47269646e-14, -4.73634823e-14,  1.00000000e+00,  4.48659891e-27,
        1.00000000e+00,  4.73634823e-14, -1.00000000e+00,  0.00000000e+00,
        9.47269646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09840046, -0.04635587,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.81725851e-07,-4.98062334e-06,-4.90500345e+00,-7.18639462e-03,
 -1.23767333e-03, 4.62360451e-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,
  9.50009891e-02,-7.00070147e-02, 1.30420104e-01, 9.99999537e-01,
  5.51614490e-05,-3.44466321e-05,-9.59916788e-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, -1.71432303,  2.86741142, -0.48864826,-40.57036455,
 -28.41676685, -3.00132346]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005846292677233883
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74755151e-14,  2.37377575e-14,  1.00000000e+00, -1.12696227e-27,
        1.00000000e+00, -2.37377575e-14, -1.00000000e+00,  0.00000000e+00,
        4.74755151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1084046 , -0.09306919,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.46468640e-05, 1.45942889e-06,-4.90501910e+00,-7.19077146e-03,
 -1.23752565e-03, 7.95557503e-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,
  9.49911084e-02,-6.99941650e-02, 1.30420060e-01, 9.99999466e-01,
 -3.22616289e-05,-1.17242134e-04,-1.02665428e-03]

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,  -1.6902786 ,   2.8195869 ,  -0.641171  , -39.97531156,
  -27.64680169,  -3.17630974]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005810157370719077
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38853906e-14, -1.91083125e-13,  1.00000000e+00,  4.56409506e-27,
        1.00000000e+00,  1.91083125e-13, -1.00000000e+00,  0.00000000e+00,
        2.38853906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840323, -0.09307163,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.10861345e-07, 7.96477829e-06,-4.90500372e+00,-7.18961009e-03,
 -1.23788728e-03, 6.77764035e-07]


--- 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,
  9.49882504e-02,-6.99867332e-02, 1.30421636e-01, 9.99999387e-01,
 -8.41507936e-05,-1.43476689e-04,-1.09485325e-03]

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,  1.75567686, -1.35446753,  0.40482668, 17.73782721,
  28.2987216 , -0.73191312]

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([ 6.26608029, -3.43460313,  5.24092202, -3.43460313, 36.06152967,
       19.5262481 ,  5.24092202, 19.5262481 , 19.06247615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005800667349620259
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.56978704e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.56978704e-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([ 0.08214767, -0.05822347,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16301442e-05, 2.71016879e-05,-4.90504883e+00,-7.18338993e-03,
 -1.23527426e-03, 3.36734404e-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,
  9.49861538e-02,-6.99899611e-02, 1.30422935e-01, 9.99999312e-01,
 -5.84985615e-05,-1.58742596e-04,-1.16105981e-03]

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,
  1.90363657e-01,-2.66494141e+00,-6.91506440e-02, 3.87648132e+01,
  5.52668562e+00, 9.91103293e-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([  6.26872458,   5.80404596,   2.36853506,   5.80404596,
        11.65805304, -13.20643742,   2.36853506, -13.20643742,
        38.63082506,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005803835810340626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14855795e-08, -2.14854510e-08,  1.00000000e+00, -4.61627364e-16,
        1.00000000e+00,  2.14854510e-08, -1.00000000e+00,  0.00000000e+00,
       -2.14855795e-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([ 0.09313376, -0.0468805 ,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.45815237e-06, 1.11546601e-05,-4.90501148e+00,-7.18099235e-03,
 -1.23259195e-03, 2.16934176e-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,
  9.49909311e-02,-6.99984467e-02, 1.30424797e-01, 9.99999237e-01,
  2.31005203e-06,-1.20661026e-04,-1.22939701e-03]

qacc:
[  -0.13390004,  -5.96308477,  24.05313823, -30.06679612,   6.22875748,
  -13.14577697,  60.02679264,-107.63691681,  10.0563965 ,   7.47699111,
  -40.98589924, 109.15242063, -82.12724977,  28.29578477,  14.57158858,
  -49.39936755,   1.71846226,  -1.31441262,   0.14078868,  17.54703974,
   26.69419185,  -1.06654573]

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([  6.25625695,  -3.65736084,  -5.07587064,  -3.65736084,
        34.94123766, -20.66863646,  -5.07587064, -20.66863646,
        21.14880777,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005788895795222626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58924693e-14, -9.58924693e-14,  1.00000000e+00,  9.19536567e-27,
        1.00000000e+00,  9.58924693e-14, -1.00000000e+00,  0.00000000e+00,
        9.58924693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215132, -0.05821921,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.61348180e-06, 6.82325692e-06,-4.90500375e+00,-7.18276224e-03,
 -1.22923230e-03, 2.04308764e-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,
  9.50024944e-02,-7.00121048e-02, 1.30426651e-01, 9.99999150e-01,
  9.81861387e-05,-3.04015390e-05,-1.30012056e-03]

qacc:
[-5.25832017e+00,-4.16772326e+00, 1.83570547e+01,-2.61323594e+01,
  1.01244294e+01,-1.21903108e+01, 5.42401165e+01,-9.27801580e+01,
  6.51353566e+00, 5.35850884e+00,-3.23017987e+01, 9.33476631e+01,
 -7.87815067e+01, 3.60969094e+01, 2.39157199e+01,-8.12252089e+01,
  1.69651748e+00,-1.29313735e+00,-2.23978079e-03, 1.75015057e+01,
  2.61104914e+01,-1.19536077e+00]

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: -0.0005745981418808499
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.77377542e-16,  9.66086508e-14,  1.00000000e+00, -3.64579352e-29,
        1.00000000e+00, -9.66086508e-14, -1.00000000e+00,  0.00000000e+00,
        3.77377542e-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([ 0.08215167, -0.05821693,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.55080377e-05,-1.72950865e-06,-4.90501478e+00,-7.18728045e-03,
 -1.23043396e-03, 2.33402377e-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,
  9.50070845e-02,-7.00139864e-02, 1.30427387e-01, 9.99999047e-01,
  1.12186320e-04, 6.42990650e-07,-1.37565589e-03]

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, -1.74332195,  2.94415626, -0.27933674,-40.89949703,
 -29.66091459, -2.40174741]

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([ 6.23700667,  3.61986446, -5.07905832,  3.61986446, 32.02912568,
       18.38214273, -5.07905832, 18.38214273, 19.33803071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005765823062109932
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81380981e-14, -2.40690490e-14,  1.00000000e+00,  1.15863824e-27,
        1.00000000e+00,  2.40690490e-14, -1.00000000e+00,  0.00000000e+00,
        4.81380981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10838944, -0.09308165,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.92870590e-05,-8.50640039e-06,-4.90505060e+00,-7.19400136e-03,
 -1.23476719e-03, 2.87499394e-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,
  9.50048156e-02,-7.00043278e-02, 1.30426284e-01, 9.99998938e-01,
  4.55143148e-05,-2.55252549e-05,-1.45663234e-03]

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, -1.71473809,  2.8850059 , -0.45953283,-40.29670048,
 -28.6621542 , -2.71737422]

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([ 6.24331699, -0.29627364,  6.23628326, -0.29627364, 56.41488458,
        2.38355323,  6.23628326,  2.38355323,  6.35655495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005773387114024336
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80750296e-14,  7.21125443e-14,  1.00000000e+00, -3.46681270e-27,
        1.00000000e+00, -7.21125443e-14, -1.00000000e+00,  0.00000000e+00,
        4.80750296e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10838614, -0.09308334,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.47861381e-06,-2.97389776e-06,-4.90500205e+00,-7.19397244e-03,
 -1.23934178e-03, 3.87947510e-07]


--- 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,
  9.49957849e-02,-6.99833275e-02, 1.30422720e-01, 9.99998798e-01,
 -1.00803950e-04,-1.07277887e-04,-1.54352810e-03]

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, -1.69045228,  2.83546517, -0.61564048,-39.78267983,
 -27.85030676, -2.9573933 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005746289238450497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44905213e-13, -9.66034756e-14,  1.00000000e+00,  1.39983473e-26,
        1.00000000e+00,  9.66034756e-14, -1.00000000e+00,  0.00000000e+00,
        1.44905213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10838427, -0.09308601,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.47848397e-05, 1.49134821e-05,-4.90501698e+00,-7.18888581e-03,
 -1.24072480e-03, 8.75457691e-07]


--- 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,
  9.49845499e-02,-6.99736515e-02, 1.30420334e-01, 9.99998649e-01,
 -1.64720364e-04,-1.97858366e-04,-1.62368075e-03]

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, -0.55105861, -2.83111201,  0.29479908, 41.20805094,
  -4.35066334,  3.36667463]

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([ 6.26703814, -1.17454431,  6.15598998, -1.17454431, 40.43550606,
        6.51924058,  6.15598998,  6.51924058,  7.51088957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005801815080260231
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56789392e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.56789392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09843896, -0.04635554,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.94547632e-05, 4.49532134e-05,-4.90509181e+00,-7.17878325e-03,
 -1.23907491e-03, 4.16123961e-06]


--- 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,
  9.49740591e-02,-6.99749184e-02, 1.30418626e-01, 9.99998504e-01,
 -1.49964002e-04,-2.76268332e-04,-1.70121373e-03]

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 ,  0.18603374, -2.73569004,  0.1694177 , 39.32671374,
   6.14890237,  1.30306135]

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([  6.31260337,  -3.52627952,  -5.23586803,  -3.52627952,
        37.18832035, -20.79433779,  -5.23586803, -20.79433779,
        20.31728168,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005856400240048351
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.74390340e-07,  7.74390196e-07,  1.00000000e+00, -5.99680287e-13,
        1.00000000e+00, -7.74390196e-07, -1.00000000e+00, -1.00974196e-28,
        7.74390340e-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([ 0.09316162, -0.04687872,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.00807611e-05, 3.11866698e-05,-4.90504327e+00,-7.17487682e-03,
 -1.22995893e-03, 3.85256599e-06]


--- 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,
  9.49705964e-02,-6.99816107e-02, 1.30418526e-01, 9.99998365e-01,
 -9.99068015e-05,-2.99461176e-04,-1.78044203e-03]

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,  1.75701845, -1.35637755,  0.40189328, 17.60319108,
  27.63867486, -0.84839298]

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([  6.33571551,  -3.38136291,  -5.35795445,  -3.38136291,
        34.99396072, -18.08599314,  -5.35795445, -18.08599314,
        17.74964352,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005884080519526907
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47097707e-14, -9.43412502e-14,  1.00000000e+00,  8.93503817e-27,
        1.00000000e+00,  9.43412502e-14, -1.00000000e+00,  0.00000000e+00,
        9.47097707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08216988, -0.05820437,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.20875054e-06, 2.35070559e-05,-4.90502458e+00,-7.17608161e-03,
 -1.22224766e-03, 3.31984461e-06]


--- 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,
  9.49740455e-02,-6.99936163e-02, 1.30419307e-01, 9.99998231e-01,
 -1.46148953e-05,-2.68964545e-04,-1.86172644e-03]

qacc:
[ -6.00240993, -4.2308689 , 19.9158613 ,-32.67976501,  4.534425  ,
  -9.15349269, 40.13841154,-65.47942611,  8.45550207,  6.37189517,
 -38.53863258,109.34175864,-33.62019846,-45.755391  ,  9.85368839,
 -35.01834819,  1.72797611, -1.32832003,  0.22043323, 17.56922093,
  26.87616414, -1.03064353]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000587922101322913
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39736322e-14,  9.44192285e-14,  1.00000000e+00, -2.26357186e-27,
        1.00000000e+00, -9.44192285e-14, -1.00000000e+00,  0.00000000e+00,
        2.39736322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217137, -0.05820211,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24213150e-05, 1.20789132e-05,-4.90501140e+00,-7.18006033e-03,
 -1.21951483e-03, 3.77634011e-06]


--- 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,
  9.49843092e-02,-7.00108430e-02, 1.30420345e-01, 9.99998085e-01,
  1.05833024e-04,-1.86023659e-04,-1.94534404e-03]

qacc:
[-5.16700009e+00,-6.52784137e+00, 2.89838596e+01,-4.80947091e+01,
  5.60962151e+00,-1.19282354e+01, 5.09109870e+01,-8.21552104e+01,
  4.95265804e+00, 5.44920824e+00,-3.40189332e+01, 9.89469079e+01,
 -2.54416556e+01,-3.20921123e+01, 9.96473977e+00,-3.53555236e+01,
  1.70363057e+00,-1.30525374e+00, 6.40209583e-02, 1.75288434e+01,
  2.62548218e+01,-1.17094760e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843284594879983
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.49999103e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.49999103e-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([ 0.08217188, -0.05819977,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.45947027e-05, 2.75853603e-06,-4.90502481e+00,-7.18623279e-03,
 -1.22001833e-03, 4.49560157e-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,
  9.49944330e-02,-7.00244310e-02, 1.30424098e-01, 9.99997916e-01,
  2.00656953e-04,-1.07155299e-04,-2.02870398e-03]

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,
 -3.49907862e-02, 9.09658986e-01, 6.78854192e-01,-1.28079845e+01,
 -2.06117144e+00, 1.31407073e-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([ 6.2542853 ,  3.56453741, -5.1390814 ,  3.56453741, 33.29787745,
       18.75780679, -5.1390814 , 18.75780679, 19.26495761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005786532930570286
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49893165e-15, -8.98687759e-07,  1.00000000e+00,  1.34707153e-21,
        1.00000000e+00,  8.98687759e-07, -1.00000000e+00,  1.88079096e-37,
        1.49893165e-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([ 0.09508834, -0.07540857,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.06636283e-05,-4.68063115e-06,-4.90506331e+00,-7.19460594e-03,
 -1.22366984e-03, 5.45953163e-06]


--- 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,
  9.49976666e-02,-7.00263209e-02, 1.30426413e-01, 9.99997734e-01,
  2.14731054e-04,-8.74558685e-05,-2.11629609e-03]

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, -1.72251529,  2.92451936, -0.35947177,-40.31503697,
 -29.66673694, -2.10583183]

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([ 6.28080782,  4.11875621, -4.74177121,  4.11875621, 19.59350166,
       11.56355673, -4.74177121, 11.56355673, 16.32504425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005818313107716494
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.77038191e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.77038191e-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([ 0.10835716, -0.09309745,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.19504243e-05,-7.94125055e-06,-4.90504392e+00,-7.20035721e-03,
 -1.22953719e-03, 3.93626282e-06]


--- 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,
  9.49941138e-02,-7.00167400e-02, 1.30426610e-01, 9.99997542e-01,
  1.49079734e-04,-1.24893663e-04,-2.20885802e-03]

qacc:
[ -0.43104216, -3.7838903 , 19.52937806,-37.69664793,  4.57347037,
  -6.91290483, 30.64767079,-47.21669959,  8.68652697,  3.50834107,
 -23.30083814, 72.59277937, -9.87339684,-44.49343603, 17.11112866,
 -59.76362622, -1.69662396,  2.86769431, -0.52946647,-39.80237701,
 -28.65344328, -2.47529218]

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([ 6.27140868, -0.73315564,  6.22840667, -0.73315564, 52.47990407,
        5.43927536,  6.22840667,  5.43927536,  6.91167442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005807051885259873
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77963279e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.77963279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1083539 , -0.09310018,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.07630017e-06, 4.01967874e-07,-4.90500073e+00,-7.20015826e-03,
 -1.23385042e-03, 1.86257857e-06]


--- 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,
  9.49838622e-02,-6.99958778e-02, 1.30424102e-01, 9.99997315e-01,
  4.57829119e-06,-2.17824120e-04,-2.30695371e-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, -1.6747007 ,  2.82033865, -0.67634838,-39.36401998,
 -27.83376241, -2.75785576]

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([ 6.23582013, -0.25586518,  6.23056865, -0.25586518, 65.80908109,
        2.44644168,  6.23056865,  2.44644168,  6.33628595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005764400695935923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62999523e-14,  4.81499762e-14,  1.00000000e+00, -4.63684041e-27,
        1.00000000e+00, -4.81499762e-14, -1.00000000e+00,  0.00000000e+00,
        9.62999523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10835208, -0.09310369,  0.06198219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.60818890e-05, 2.05949905e-05,-4.90501971e+00,-7.19498122e-03,
 -1.23492733e-03, 2.73162512e-06]


--- 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,
  9.49806886e-02,-6.99805846e-02, 1.30423917e-01, 9.99997070e-01,
 -1.04683898e-04,-2.51251005e-04,-2.40555312e-03]

qacc:
[ -2.61095732, -4.53718328, 18.20503111,-23.11047146,  7.6324715 ,
  -9.3657278 , 38.90392895,-57.64315661,  7.27118213,  2.71122072,
 -19.68538846, 64.22883045, -6.08493299,-23.34710461, 10.69399384,
 -37.94510912,  1.76951325, -1.3922583 ,  0.5808063 , 17.55088857,
  29.79235084, -0.25585082]

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([ 6.24676797, -3.51775153,  5.16212497, -3.51775153, 30.38813263,
       16.45123338,  5.16212497, 16.45123338, 17.45752939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005777523434653403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80406110e-14, -1.92162444e-13,  1.00000000e+00,  9.23160124e-27,
        1.00000000e+00,  1.92162444e-13, -1.00000000e+00,  0.00000000e+00,
        4.80406110e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218393, -0.05818692,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.25362228e-05, 5.25642496e-05,-4.90509758e+00,-7.18485365e-03,
 -1.23293893e-03, 6.37372783e-06]


--- 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,
  9.49844764e-02,-6.99707204e-02, 1.30425246e-01, 9.99996820e-01,
 -1.78753667e-04,-2.27533600e-04,-2.50526370e-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,  1.74034735, -1.35723149,  0.37842058, 17.52728745,
  28.61444778, -0.55701883]

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([ 6.27716349,  2.43146478, -5.78712022,  2.43146478, 45.02609816,
       16.28040653, -5.78712022, 16.28040653, 13.11739378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005813946923896723
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12365000e-14, -9.54792879e-14,  1.00000000e+00, -6.80161029e-27,
        1.00000000e+00,  9.54792879e-14, -1.00000000e+00,  0.00000000e+00,
       -7.12365000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218833, -0.05818465,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.98780340e-05, 2.65901891e-05,-4.90504206e+00,-7.17938094e-03,
 -1.22929249e-03, 4.18625713e-06]


--- 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,
  9.49951186e-02,-6.99661748e-02, 1.30427387e-01, 9.99996568e-01,
 -2.17659964e-04,-1.48636962e-04,-2.60655517e-03]

qacc:
[ -1.52939145, -5.40414565, 24.85737252,-43.16481035,  4.82367562,
  -6.42631477, 24.98075722,-30.51746813,  6.59623   ,  4.46964092,
 -29.47769435, 87.33784916, -3.37544281,-23.95539396, 20.15247171,
 -70.29302961,  1.71360263, -1.32966194,  0.20315702, 17.51238081,
  27.63371677, -0.78951637]

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([ 6.27561005,  2.20379506, -5.87593131,  2.20379506, 57.47772863,
       19.20359006, -5.87593131, 19.20359006, 13.47800482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000581208573876805
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.44809853e-07,  3.44809709e-07,  1.00000000e+00, -1.18893785e-13,
        1.00000000e+00, -3.44809709e-07, -1.00000000e+00,  2.52435490e-29,
        3.44809853e-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([ 0.08220492, -0.05816821,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.31848880e-05, 3.59591871e-06,-4.90501634e+00,-7.17604826e-03,
 -1.22916622e-03, 2.36210494e-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,
  9.50050617e-02,-6.99723238e-02, 1.30428915e-01, 9.99996327e-01,
 -1.76558083e-04,-6.90160875e-05,-2.70377650e-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, -0.17478266, -2.6736634 , -0.15334291, 40.00331101,
   0.46594736,  2.02921282]

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([  6.27278258,   5.56174101,   2.90083405,   5.56174101,
        12.52397562, -11.98535185,   2.90083405, -11.98535185,
        29.25218154,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005808698041057711
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55655654e-14, -1.91852555e-07,  1.00000000e+00, -1.83344979e-20,
        1.00000000e+00,  1.91852555e-07, -1.00000000e+00,  0.00000000e+00,
       -9.55655654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0958566 , -0.04646759,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.25342996e-05,-1.68854129e-05,-4.90501795e+00,-7.17487795e-03,
 -1.23240790e-03, 8.60333191e-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,
  9.50129655e-02,-6.99890390e-02, 1.30429196e-01, 9.99996090e-01,
 -5.61940465e-05,-3.40816495e-07,-2.79585218e-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, -0.50982014, -2.64152076, -0.31174997, 39.64590808,
  -5.36608191,  2.56911469]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005778540881409
  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([ 0.09849795, -0.04636211,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.69438877e-05,-1.56935367e-05,-4.90502003e+00,-7.17735981e-03,
 -1.23362799e-03, 1.42600585e-06]


--- 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,
  9.50188774e-02,-7.00161943e-02, 1.30427704e-01, 9.99995832e-01,
  1.42053221e-04, 5.67721856e-05,-2.88332258e-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, -0.4979951 , -2.61004629, -0.44335785, 38.95762695,
  -5.67236616,  2.30226634]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723120210395782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.69945575e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.69945575e-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([ 0.09850116, -0.04636106,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.24945868e-05,-1.87958502e-06,-4.90505703e+00,-7.18447021e-03,
 -1.23462451e-03, 1.96319508e-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,
  9.50176816e-02,-7.00311851e-02, 1.30426329e-01, 9.99995542e-01,
  2.55372586e-04, 5.10151882e-05,-2.97475234e-03]

qacc:
[-8.12988744e-01,-3.73978662e+00, 1.57176360e+01,-2.21369002e+01,
 -1.73464175e+00,-6.52403444e+00, 2.60146910e+01,-3.62588298e+01,
  1.23234448e+01, 2.71444570e+00,-1.99455165e+01, 6.44813611e+01,
 -9.42229054e-01,-2.50003877e+01, 6.15060720e+00,-2.23808684e+01,
 -1.77689842e+00, 3.04112575e+00, 2.95440243e-02,-4.23730228e+01,
 -3.15575866e+01,-1.97765973e+00]

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([ 6.26495832,  0.6670702 , -6.22934347,  0.6670702 , 66.07687603,
        6.40496838, -6.22934347,  6.40496838,  6.95083534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005799322932415613
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57200554e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.57200554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10832007, -0.09312069,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.40464202e-05, 2.03649229e-05,-4.90513210e+00,-7.19639968e-03,
 -1.23534815e-03, 2.34112842e-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,
  9.50095114e-02,-7.00343055e-02, 1.30424180e-01, 9.99995244e-01,
  2.85457792e-04,-1.49355194e-05,-3.07095440e-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, -1.74362468,  2.96761477, -0.19363094,-41.52724058,
 -30.22113066, -2.38059137]

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([ 6.31918083, -0.0777821 ,  6.3187021 , -0.0777821 , 40.69855563,
        0.423204  ,  6.3187021 ,  0.423204  ,  6.32439039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005864278083030222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41989731e-13,  1.18324776e-13,  1.00000000e+00, -1.68009031e-26,
        1.00000000e+00, -1.18324776e-13, -1.00000000e+00,  0.00000000e+00,
        1.41989731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10831412, -0.09312014,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.30393714e-05, 1.72363536e-05,-4.90504208e+00,-7.20219405e-03,
 -1.23822130e-03,-2.66996889e-07]


--- 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,
  9.49944810e-02,-7.00258050e-02, 1.30420480e-01, 9.99994931e-01,
  2.33764541e-04,-1.38899503e-04,-3.17254339e-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, -1.7150161 ,  2.90521867, -0.3879555 ,-40.79999476,
 -29.13283807, -2.68458645]

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([ 6.33395976,  0.27951726,  6.32778922,  0.27951726, 50.61236843,
       -1.95590897,  6.32778922, -1.95590897,  6.42035808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005881977856464632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41562462e-13,  2.35937437e-14,  1.00000000e+00, -3.33998845e-27,
        1.00000000e+00, -2.35937437e-14, -1.00000000e+00,  0.00000000e+00,
        1.41562462e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10831017, -0.09312105,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.23361738e-06, 2.71605752e-05,-4.90502150e+00,-7.20280729e-03,
 -1.23759681e-03, 4.17451693e-07]


--- 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,
  9.49726877e-02,-7.00058937e-02, 1.30414553e-01, 9.99994565e-01,
  1.01528969e-04,-3.19109130e-04,-3.27997887e-03]

qacc:
[ -1.51554206, -5.7154765 , 23.9579438 ,-35.9266664 ,  4.60780189,
  -6.44073525, 26.37286174,-39.2793462 ,  2.40145361,  3.06299346,
 -24.00275215, 77.53424827, -0.5845836 ,-19.69296091, 15.74215153,
 -54.84609658, -1.69074912,  2.85269134, -0.55662257,-40.18213541,
 -28.25112916, -2.9111455 ]

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([ 6.31682147,  0.70682217,  6.2771519 ,  0.70682217, 62.01047659,
       -6.27123743,  6.2771519 , -6.27123743,  7.02297765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005861452309895571
  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([ 0.10830781, -0.09312315,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.77504886e-06, 4.98447793e-05,-4.90506521e+00,-7.19829987e-03,
 -1.23369761e-03, 4.13727688e-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,
  9.49581360e-02,-6.99917587e-02, 1.30412087e-01, 9.99994167e-01,
  4.69269468e-06,-4.37720540e-04,-3.38738545e-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,
  1.81040018e+00,-1.44407837e+00, 8.65389239e-01, 1.75985389e+01,
  3.08569929e+01, 5.62460887e-03]

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([ 6.32903731, -3.53056444,  5.25279239, -3.53056444, 30.59336121,
       16.30880353,  5.25279239, 16.30880353, 17.29068923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005876082682381295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72348282e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.72348282e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221159, -0.05816039,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.20434033e-05, 8.49415119e-05,-4.90516928e+00,-7.18872835e-03,
 -1.22669167e-03, 1.06972648e-05]


--- 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,
  9.49506770e-02,-6.99832300e-02, 1.30412105e-01, 9.99993765e-01,
 -5.67353541e-05,-4.97507615e-04,-3.49550476e-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 ,  1.77317373, -1.40156218,  0.62091382, 17.60422319,
  29.4719644 , -0.36425595]

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([ 6.39441446,  2.93488355, -5.68110859,  2.93488355, 35.89191008,
       15.2385249 , -5.68110859, 15.2385249 , 14.26669772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005954375496268205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66137475e-14, -9.32274951e-14,  1.00000000e+00,  4.34568292e-27,
        1.00000000e+00,  9.32274951e-14, -1.00000000e+00,  0.00000000e+00,
        4.66137475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221729, -0.05815808,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.13229595e-05, 5.66597938e-05,-4.90508166e+00,-7.18417799e-03,
 -1.21762303e-03, 9.10211347e-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,
  9.49501822e-02,-6.99801646e-02, 1.30413757e-01, 9.99993373e-01,
 -8.28098265e-05,-5.00737099e-04,-3.60491139e-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,  1.74106527, -1.36583028,  0.40830585, 17.57750943,
  28.34044717, -0.65083125]

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([ 6.41931482,  2.73472542, -5.80765698,  2.73472542, 46.05707126,
       18.66473529, -5.80765698, 18.66473529, 15.20821648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005984198104880128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63814451e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.63814451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222112, -0.0581557 ,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.64182392e-05, 3.20158121e-05,-4.90502699e+00,-7.18174194e-03,
 -1.21219472e-03, 7.88750161e-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,
  9.49565424e-02,-6.99824433e-02, 1.30416306e-01, 9.99992992e-01,
 -7.36202214e-05,-4.49254106e-04,-3.71604881e-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,  1.71374684, -1.3360273 ,  0.22442954, 17.53287226,
  27.41969332, -0.87193227]

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([ 6.41138531,  2.45865551, -5.9212224 ,  2.45865551, 59.50547165,
       22.04613487, -5.9212224 , 22.04613487, 15.56555099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000597470063970526
  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([ 0.08222346, -0.05815326,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.46896040e-06, 1.03618903e-05,-4.90500207e+00,-7.18145262e-03,
 -1.21023374e-03, 7.00773928e-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,
  9.49696660e-02,-6.99899675e-02, 1.30419119e-01, 9.99992609e-01,
 -2.92703789e-05,-3.44552533e-04,-3.82925739e-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,  1.69084393, -1.31138547,  0.0661267 , 17.48064884,
  26.67450859, -1.04151642]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005933745694702564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35516183e-14, -9.35516183e-14,  1.00000000e+00,  8.75190529e-27,
        1.00000000e+00,  9.35516183e-14, -1.00000000e+00,  0.00000000e+00,
        9.35516183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222461, -0.05815076,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.41757920e-06,-8.77171979e-06,-4.90500452e+00,-7.18332944e-03,
 -1.21160226e-03, 6.42602114e-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,
  9.49894775e-02,-7.00026567e-02, 1.30421654e-01, 9.99992200e-01,
  5.01360219e-05,-1.87832908e-04,-3.94479634e-03]

qacc:
[ -6.03121539, -4.54340145, 22.34544654,-43.20145863,  2.0099911 ,
  -7.01340737, 30.32525857,-50.01671666, 12.98638595,  3.19067159,
 -19.79834346, 55.94969392,  0.21549462,-24.01407608,  9.70665095,
 -34.00829956,  1.67197113, -1.29122705, -0.06963181, 17.42815273,
  26.07598407, -1.17050677]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005868050954159904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89197918e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89197918e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222484, -0.05814821,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.21656920e-05,-2.57229071e-05,-4.90503252e+00,-7.18738328e-03,
 -1.21619100e-03, 6.11369415e-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,
  9.50159160e-02,-7.00204457e-02, 1.30423447e-01, 9.99991733e-01,
  1.64505575e-04, 1.99501405e-05,-4.06286086e-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,  1.65675321, -1.27496062, -0.18566514, 17.38048682,
  25.6004056 , -1.26744841]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005783323999402623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.59848544e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.59848544e-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([ 0.08222433, -0.05814563,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.27303251e-05,-4.07300657e-05,-4.90508476e+00,-7.19361942e-03,
 -1.22391382e-03, 6.04933603e-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,
  9.50353820e-02,-7.00260593e-02, 1.30424952e-01, 9.99991220e-01,
  1.97811930e-04, 1.64232356e-04,-4.18246090e-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 , -1.74313018,  3.04384405, -0.07181924,-40.40224777,
 -31.91495467, -0.76343293]

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([ 6.30096037,  3.65208259, -5.13462699,  3.65208259, 26.00257871,
       14.01307971, -5.13462699, 14.01307971, 16.26797931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005842454534815827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42520111e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42520111e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10826669, -0.09315156,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.70959794e-05,-5.39549950e-05,-4.90516027e+00,-7.20203977e-03,
 -1.23470348e-03, 6.21782000e-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,
  9.50480023e-02,-7.00197971e-02, 1.30425325e-01, 9.99990691e-01,
  1.50966779e-04, 2.47952071e-04,-4.30495620e-03]

qacc:
[ -2.3255176 , -1.83819097,  8.66633574,-12.99290569,  4.00084876,
  -8.58451255, 39.25063187,-72.20664708,  4.32043152,  0.52898685,
 -10.18138888, 45.38498395, -0.14510078,-16.58724033, 21.61797105,
 -74.71810952, -1.7114176 ,  2.96896208, -0.28282646,-39.94851162,
 -30.44888542, -1.44824543]

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([ 6.3337754 , -2.05093843,  5.99252554, -2.05093843, 31.02463362,
        8.45043206,  5.99252554,  8.45043206,  9.22593092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00058817570587609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71892588e-14, -7.07838882e-14,  1.00000000e+00,  3.34023922e-27,
        1.00000000e+00,  7.07838882e-14, -1.00000000e+00,  0.00000000e+00,
        4.71892588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10826008, -0.09315422,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.05654890e-05,-4.21679557e-05,-4.90505667e+00,-7.20242712e-03,
 -1.24805006e-03,-5.78886896e-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,
  9.50538868e-02,-7.00019100e-02, 1.30423836e-01, 9.99990144e-01,
  2.47892441e-05, 2.73497314e-04,-4.43140267e-03]

qacc:
[  0.54802327, -1.13684509,  5.27027004, -5.1099067 ,  7.18973419,
  -7.65060696, 36.07520848,-67.55568607,  1.17966043, -1.12250307,
  -3.1652678 , 31.96356393, -0.37821955,-12.62075635, 18.87944707,
 -65.9563344 , -1.6839447 ,  2.90621433, -0.46567317,-39.54011261,
 -29.2580224 , -1.98105149]

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([ 6.3312088 , -1.7468934 ,  6.08543904, -1.7468934 , 39.81628015,
        9.61226459,  6.08543904,  9.61226459,  9.09051695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005878683293159964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72139325e-14, -4.72139325e-14,  1.00000000e+00,  2.22915542e-27,
        1.00000000e+00,  4.72139325e-14, -1.00000000e+00,  0.00000000e+00,
        4.72139325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1082556 , -0.09315768,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.80689161e-05,-2.01364261e-05,-4.90502066e+00,-7.19795301e-03,
 -1.25773408e-03,-4.16030936e-06]


--- 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,
  9.50531296e-02,-6.99726068e-02, 1.30419853e-01, 9.99989546e-01,
 -1.80003992e-04, 2.42802148e-04,-4.56261794e-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, -1.66041826,  2.85404782, -0.62371574,-39.18219895,
 -28.29416849, -2.3945385 ]

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([ 6.30023293, -1.35407629,  6.15300027, -1.35407629, 51.27501397,
        9.89749424,  6.15300027,  9.89749424,  8.4783512 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005841583180636739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50275799e-14,  2.37568950e-14,  1.00000000e+00, -2.25756023e-27,
        1.00000000e+00, -2.37568950e-14, -1.00000000e+00,  0.00000000e+00,
        9.50275799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10825283, -0.09316179,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.04289596e-05, 1.26345927e-05,-4.90504769e+00,-7.18860147e-03,
 -1.26403975e-03,-4.76209617e-06]


--- 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,
  9.50500059e-02,-6.99548285e-02, 1.30417826e-01, 9.99988959e-01,
 -3.00978247e-04, 2.06630566e-04,-4.68490640e-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, -0.59164361, -2.88125993,  0.48939617, 41.92046325,
  -2.54776725,  4.47306353]

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([ 6.34270899, -1.25741389,  6.21682135, -1.25741389, 33.59803514,
        5.51266051,  6.21682135,  5.51266051,  7.45769935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005892455739910374
  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([ 0.09859045, -0.04637972,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.77340122e-05, 5.63825169e-05,-4.90513428e+00,-7.17436980e-03,
 -1.26718245e-03,-2.56519894e-06]


--- 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,
  9.50446095e-02,-6.99482892e-02, 1.30416771e-01, 9.99988411e-01,
 -3.40170637e-04, 1.63081376e-04,-4.79961992e-03]

qacc:
[ -7.63915415, -1.94408184,  7.80854976, -8.99335301,  5.99718342,
  -6.84943972, 26.1018853 ,-33.87214703, -1.54305078,  3.34938899,
 -19.10956455, 50.43946736, -1.17535841, -0.69393354, 12.3143914 ,
 -43.17116392, -0.56817028, -2.80972269,  0.24278068, 40.90698654,
  -3.49833677,  3.79485909]

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([ 6.4056345 , -1.19442816, -6.29328965, -1.19442816, 33.75905508,
       -5.19151312, -6.29328965, -5.19151312,  7.39095216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005967812969219916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86035157e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86035157e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09859753, -0.04638198,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.13887089e-05, 3.58849413e-05,-4.90505148e+00,-7.16690909e-03,
 -1.25926930e-03,-2.70787897e-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,
  9.50370172e-02,-6.99527453e-02, 1.30415831e-01, 9.99987906e-01,
 -2.99310891e-04, 1.10677220e-04,-4.90783036e-03]

qacc:
[-2.59842007e+00,-1.61042115e+00, 9.11655512e+00,-1.83781278e+01,
  8.27559239e+00,-6.68606672e+00, 2.78267474e+01,-4.33484243e+01,
  3.59418117e+00, 4.11381806e+00,-2.44504938e+01, 6.69880367e+01,
 -9.80253139e-01,-2.74217649e+00, 1.39117889e+01,-4.86683611e+01,
 -5.48971029e-01,-2.74887288e+00, 2.87490720e-02, 4.00463315e+01,
 -4.23643138e+00, 3.25662961e+00]

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([ 6.42749255, -1.4526694 , -6.26118296, -1.4526694 , 42.01691345,
       -8.25717171, -6.26118296, -8.25717171,  8.34325523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005993993456981789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26112977e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.26112977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09860333, -0.04638255,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.11333927e-05, 2.65955108e-05,-4.90501389e+00,-7.16444485e-03,
 -1.25179102e-03,-2.77257097e-06]


--- 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,
  9.50272915e-02,-6.99679918e-02, 1.30414266e-01, 9.99987431e-01,
 -1.79853749e-04, 4.82688259e-05,-5.01038872e-03]

qacc:
[ -5.47842596, -1.22098166,  8.12284529,-17.14563615,  6.52927917,
  -6.01353427, 27.40715868,-48.02030601,  3.80854691,  5.09396351,
 -28.16677184, 72.94261244,  0.28266035,-20.63047598,  9.30380911,
 -33.16841369, -0.53337101, -2.69758799, -0.15620623, 39.32246433,
  -4.81003494,  2.8289325 ]

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([  6.41606343,  -1.77604619,  -6.16534913,  -1.77604619,
        52.03163791, -13.14043461,  -6.16534913, -13.14043461,
        10.20141577,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005980303731116798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28232975e-14,  1.85646595e-13,  1.00000000e+00, -1.72323291e-26,
        1.00000000e+00, -1.85646595e-13, -1.00000000e+00,  0.00000000e+00,
        9.28232975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09860812, -0.04638175,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.39609968e-05, 2.73996976e-05,-4.90501857e+00,-7.16689053e-03,
 -1.24447167e-03,-2.84282225e-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,
  9.50154825e-02,-6.99938575e-02, 1.30411439e-01, 9.99986954e-01,
  1.69908345e-05,-2.50396917e-05,-5.10797178e-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,
 -5.20799858e-01,-2.65479371e+00,-3.15522927e-01, 3.87204217e+01,
 -5.25657018e+00, 2.48849797e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005934724266708352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35361926e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.35361926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09861213, -0.04637988,  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:
[-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,
 -3.45866139e-05, 3.75012433e-05,-4.90506323e+00,-7.17416933e-03,
 -1.23710470e-03,-2.97394939e-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,
  9.49966847e-02,-7.00076548e-02, 1.30408400e-01, 9.99986409e-01,
  1.28577319e-04,-1.61038746e-04,-5.20963987e-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, -1.74719745,  3.0170952 , -0.0530671 ,-42.46843368,
 -31.56264298, -2.04106404]

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([ 6.33368387,  0.90622278, -6.2685175 ,  0.90622278, 55.10042378,
        7.05007692, -6.2685175 ,  7.05007692,  7.3528946 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005881647449813426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.07852073e-14, -1.88760553e-13,  1.00000000e+00,  1.33614549e-26,
        1.00000000e+00,  1.88760553e-13, -1.00000000e+00,  0.00000000e+00,
        7.07852073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10822307, -0.09317131,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.12553029e-05, 5.63490026e-05,-4.90514611e+00,-7.18621478e-03,
 -1.22953519e-03,-3.20228273e-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,
  9.49710127e-02,-7.00096593e-02, 1.30404292e-01, 9.99985793e-01,
  1.56696091e-04,-3.57079429e-04,-5.31614209e-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, -1.71857285,  2.94820526, -0.26722893,-41.57727675,
 -30.23814161, -2.4066283 ]

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([ 6.37197403,  0.57946774,  6.34557091,  0.57946774, 39.37489569,
       -3.01377585,  6.34557091, -3.01377585,  6.64718739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005927501699364429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68250825e-14, -9.36501650e-14,  1.00000000e+00,  4.38517670e-27,
        1.00000000e+00,  9.36501650e-14, -1.00000000e+00,  0.00000000e+00,
        4.68250825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10821729, -0.09317086,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.76783327e-05, 5.84302049e-05,-4.90510867e+00,-7.19172504e-03,
 -1.22476163e-03,-1.13632776e-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,
  9.49524650e-02,-7.00173696e-02, 1.30402850e-01, 9.99985148e-01,
  2.19595001e-04,-4.94752417e-04,-5.42314522e-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,  1.78108555, -1.42645412,  0.66668184, 17.23458989,
  29.27583672, -0.2613171 ]

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([ 6.4117261 , -3.43242731,  5.41559548, -3.43242731, 28.6615916 ,
       14.10205882,  5.41559548, 14.10205882, 15.3496706 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005975108802513812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.29040007e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.29040007e-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([ 0.0822654 , -0.05810629,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.09553701e-05, 7.38584657e-05,-4.90513880e+00,-7.19202908e-03,
 -1.21648893e-03, 4.16612118e-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,
  9.49408991e-02,-7.00306378e-02, 1.30403193e-01, 9.99984486e-01,
  3.17450926e-04,-5.76257642e-04,-5.53129716e-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,
  1.74545109e+00,-1.38946963e+00, 4.46001852e-01, 1.73256622e+01,
  2.81781230e+01,-5.89259866e-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([ 6.44080618,  3.65412308, -5.30390128,  3.65412308, 38.92515254,
       22.38009227, -5.30390128, 22.38009227, 21.85957201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006009942114081762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61827670e-14, -1.84731068e-13,  1.00000000e+00,  8.53139186e-27,
        1.00000000e+00,  1.84731068e-13, -1.00000000e+00,  0.00000000e+00,
        4.61827670e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226895, -0.05810333,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.80988785e-05, 5.66233667e-05,-4.90508354e+00,-7.19720729e-03,
 -1.20632020e-03, 5.50255593e-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,
  9.49361932e-02,-7.00493416e-02, 1.30404556e-01, 9.99983805e-01,
  4.50364356e-04,-6.03396289e-04,-5.64110244e-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,  1.7150035 , -1.35892848,  0.25516221, 17.37764868,
  27.2795561 , -0.84543484]

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([ 6.43590406,  3.38709505, -5.47251754,  3.38709505, 51.36391231,
       27.8072081 , -5.47251754, 27.8072081 , 23.64656736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006004069542998869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.24558765e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.24558765e-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([ 0.08227107, -0.05810043,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.93082415e-05, 4.25116634e-05,-4.90505866e+00,-7.20448982e-03,
 -1.19956054e-03, 7.07765152e-06]


--- 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,
  9.49315624e-02,-7.00576962e-02, 1.30407196e-01, 9.99983147e-01,
  5.07984432e-04,-6.37445664e-04,-5.74819868e-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,
  1.87710052e-02, 2.58732060e+00, 3.19045835e-01,-3.76257630e+01,
 -3.66706008e+00, 1.37883454e+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([ 6.42943   ,  2.4795215 , -5.93207748,  2.4795215 , 28.37038878,
        9.1709994 , -5.93207748,  9.1709994 , 10.26277343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005996314250127044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.07608354e-08, -1.15719317e-13,  1.00000000e+00,  9.34558873e-21,
        1.00000000e+00,  1.15719317e-13, -1.00000000e+00,  1.50463277e-36,
        8.07608354e-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([ 0.0948319 , -0.08900961,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.44914927e-05, 3.10371795e-05,-4.90506172e+00,-7.21391225e-03,
 -1.19608098e-03, 8.87998795e-06]


--- 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,
  9.49269776e-02,-7.00559029e-02, 1.30410344e-01, 9.99982520e-01,
  4.91725562e-04,-6.77155399e-04,-5.85321256e-03]

qacc:
[-6.29832571e+00,-2.32601140e+00, 1.08458511e+01,-1.74973389e+01,
  3.84896672e+00,-3.96798874e+00, 1.98263616e+01,-3.78773303e+01,
  6.63199905e+00, 2.79726778e+00,-1.78884876e+01, 4.98876731e+01,
 -2.09293733e-01,-1.28269620e+01, 1.61371072e+01,-5.57922424e+01,
  1.15002186e-02, 2.53697971e+00, 1.27167077e-01,-3.69219268e+01,
 -3.04192878e+00, 1.06623004e+00]

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([  6.4258345 ,   1.64997353,   6.21038939,   1.64997353,
        58.29406878, -13.7803297 ,   6.21038939, -13.7803297 ,
        10.08698645,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005992007385847538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88945828e-07,  2.31604985e-14,  1.00000000e+00,  2.29044784e-20,
        1.00000000e+00, -2.31604985e-14, -1.00000000e+00,  0.00000000e+00,
       -9.88945828e-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([ 0.09482804, -0.08901026,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.93080138e-05, 2.22001670e-05,-4.90501748e+00,-7.21729630e-03,
 -1.19785903e-03, 9.90987604e-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,
  9.49295492e-02,-7.00462556e-02, 1.30413235e-01, 9.99981989e-01,
  4.15339246e-04,-6.66354648e-04,-5.95020066e-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,  1.78910146,  1.96351559, -0.06421248,-30.20832783,
  25.08083812,  4.02105109]

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([ 6.40785882, -5.21509607,  3.72336241, -5.21509607, 17.76285518,
       15.90427963,  3.72336241, 15.90427963, 28.68405357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005970476980315109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64880372e-14,  9.29760745e-14,  1.00000000e+00, -4.32227521e-27,
        1.00000000e+00, -9.29760745e-14, -1.00000000e+00,  0.00000000e+00,
        4.64880372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814504 , -0.08483395,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.50443991e-06, 2.14499676e-05,-4.90500863e+00,-7.21616277e-03,
 -1.19903494e-03, 1.10658444e-05]


--- 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,
  9.49392808e-02,-7.00361896e-02, 1.30417291e-01, 9.99981487e-01,
  3.33105850e-04,-6.01215507e-04,-6.04588279e-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,  1.7900196 ,  0.10465282,  0.29117838, -3.08472091,
  27.15159114,  0.64371463]

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([  6.36782664,   2.42624706,   5.88749024,   2.42624706,
        59.40078572, -21.85499354,   5.88749024, -21.85499354,
        15.37431526,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005922535069521478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39353281e-14, -9.66577218e-14,  1.00000000e+00, -4.24668872e-27,
        1.00000000e+00,  9.66577218e-14, -1.00000000e+00,  0.00000000e+00,
       -4.39353281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181286, -0.06954255,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.27774877e-05, 7.68134732e-06,-4.90501701e+00,-7.21255076e-03,
 -1.20233222e-03, 1.03406618e-05]


--- 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,
  9.49559327e-02,-7.00285227e-02, 1.30421960e-01, 9.99980984e-01,
  2.65996103e-04,-4.82083775e-04,-6.14229013e-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,  1.73003831, -0.59979343,  0.15324806,  7.39825045,
  27.04139268, -0.37613681]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005865514871771869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.14581952e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.14581952e-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([ 0.08204389, -0.06390297,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.69901498e-05,-8.67244001e-06,-4.90502901e+00,-7.20860070e-03,
 -1.20654834e-03, 8.09534595e-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,
  9.49791993e-02,-7.00260424e-02, 1.30426300e-01, 9.99980449e-01,
  2.34699661e-04,-3.09718986e-04,-6.24096945e-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,  1.65369695, -1.29661547, -0.08206298, 17.74228239,
  26.72570008, -1.1517806 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005804372321699669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56367858e-14, -1.91273572e-13,  1.00000000e+00,  1.82927896e-26,
        1.00000000e+00,  1.91273572e-13, -1.00000000e+00,  0.00000000e+00,
        9.56367858e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08228387, -0.05808649,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.32109770e-05,-2.70157370e-05,-4.90504947e+00,-7.20560074e-03,
 -1.21321917e-03, 5.60376537e-06]


--- 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,
  9.49957967e-02,-7.00119588e-02, 1.30428502e-01, 9.99979858e-01,
  1.25583516e-04,-1.95524704e-04,-6.34274766e-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, -1.66729456,  2.90080841, -0.53462431,-38.72804458,
 -29.32789238, -1.53071717]

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([ 6.23058165,  3.46458194, -5.17849589,  3.46458194, 24.48001363,
       12.20946271, -5.17849589, 12.20946271, 14.39910875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005758120745719825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82024897e-14, -2.41012449e-14,  1.00000000e+00,  1.16174001e-27,
        1.00000000e+00,  2.41012449e-14, -1.00000000e+00,  0.00000000e+00,
        4.82024897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10817597, -0.09320857,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.62568616e-06,-4.62131912e-05,-4.90508349e+00,-7.20485805e-03,
 -1.22223959e-03, 3.75644541e-06]


--- 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,
  9.50058135e-02,-6.99864759e-02, 1.30427983e-01, 9.99979196e-01,
 -6.09356354e-05,-1.37532197e-04,-6.44861929e-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, -1.64516866,  2.84981762, -0.68033226,-38.52288251,
 -28.34605882, -2.03578669]

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([ 6.19540324, -2.04900174,  5.84676091, -2.04900174, 44.95347654,
       13.58279578,  5.84676091, 13.58279578, 10.95550418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005715933323656303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.85582564e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.85582564e-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([ 0.108173  , -0.09321362,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.10474376e-05,-2.19097868e-05,-4.90506843e+00,-7.19686181e-03,
 -1.23299562e-03, 1.01307949e-09]


--- 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,
  9.50226986e-02,-6.99664589e-02, 1.30428814e-01, 9.99978490e-01,
 -2.11947069e-04,-2.18164967e-05,-6.55543553e-03]

qacc:
[ -3.65383914, -1.96385225,  8.77447837,-14.24204686,  3.42874179,
  -2.63051855, 10.01406659,-11.34371439, -2.05937976,  0.64481165,
  -5.27571848, 20.73199396, -0.23298266,-10.80237604, 11.964959  ,
 -42.04596656,  1.71708035, -1.36645371,  0.33757221, 17.5673055 ,
  28.97550938, -0.47312578]

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([ 6.20996156, -3.51363601,  5.12035005, -3.51363601, 27.40584919,
       14.54483255,  5.12035005, 14.54483255, 16.19077283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005733395650585111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.82566401e-07, -6.82566524e-07,  1.00000000e+00, -4.65896976e-13,
        1.00000000e+00,  6.82566524e-07, -1.00000000e+00,  0.00000000e+00,
       -6.82566401e-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([ 0.08230796, -0.05806874,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.82566487e-05, 1.26924319e-05,-4.90511287e+00,-7.18409764e-03,
 -1.24054376e-03,-9.71592238e-07]


--- 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,
  9.50373121e-02,-6.99574995e-02, 1.30430240e-01, 9.99977809e-01,
 -2.79897906e-04, 8.45598978e-05,-6.65550567e-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,
 -5.67884683e-01,-2.76441321e+00, 1.48650859e-01, 4.15600939e+01,
 -4.39801791e+00, 3.37115929e+00]

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([  6.26516639,   5.90631252,   2.08992401,   5.90631252,
        10.07051701, -10.75426185,   2.08992401, -10.75426185,
        36.65767405,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005799572256905139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57159404e-14,  1.91431881e-13,  1.00000000e+00, -1.83230825e-26,
        1.00000000e+00, -1.91431881e-13, -1.00000000e+00,  0.00000000e+00,
        9.57159404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09869083, -0.04638934,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.03287581e-05,-1.62760315e-05,-4.90510261e+00,-7.17615061e-03,
 -1.24592884e-03,-4.58768652e-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,
  9.50497306e-02,-6.99593897e-02, 1.30431480e-01, 9.99977169e-01,
 -2.66812629e-04, 1.80552135e-04,-6.74969926e-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,
 -5.48781492e-01,-2.71240533e+00,-4.64281206e-02, 4.05514706e+01,
 -4.92311953e+00, 2.94032500e+00]

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([  6.28654646,  -3.26971351,  -5.36932398,  -3.26971351,
        38.18838289, -19.42700159,  -5.36932398, -19.42700159,
        18.11684946,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005825188082945187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52950367e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52950367e-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([ 0.09869539, -0.04639119,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.38848360e-05,-2.37537449e-05,-4.90504139e+00,-7.17156768e-03,
 -1.24805195e-03,-3.67055119e-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,
  9.50600176e-02,-6.99719532e-02, 1.30431859e-01, 9.99976565e-01,
 -1.74373680e-04, 2.65362133e-04,-6.83870044e-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, -0.5328528 , -2.66831596, -0.21537392, 39.71320492,
  -5.3238813 ,  2.60193877]

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([  6.27665864,  -3.56715243,  -5.16448131,  -3.56715243,
        44.37963996, -26.3180626 ,  -5.16448131, -26.3180626 ,
        24.45477476,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000581334206750217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.90978444e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.90978444e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09869919, -0.04639148,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.14633367e-06,-2.15666620e-05,-4.90502299e+00,-7.17200071e-03,
 -1.25021347e-03,-2.87609995e-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,
  9.50682261e-02,-6.99950422e-02, 1.30430792e-01, 9.99975978e-01,
 -3.96700249e-06, 3.38381408e-04,-6.92304703e-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, -0.51961163, -2.63137111, -0.36117816, 39.02265184,
  -5.62903236,  2.33661401]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005771535914754211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61808989e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.61808989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09870241, -0.04639053,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.35053685e-05,-1.04499833e-05,-4.90504487e+00,-7.17734846e-03,
 -1.25224350e-03,-2.22873631e-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,
  9.50694829e-02,-7.00059953e-02, 1.30429588e-01, 9.99975353e-01,
  8.13843705e-05, 3.49696892e-04,-7.01176159e-03]

qacc:
[-1.66294595e-01, 8.46132283e-01,-3.32255665e-01,-5.35709482e+00,
  2.96644339e+00,-1.60943940e+00, 5.33073877e+00,-3.25769628e+00,
  6.63409868e+00, 2.72642992e+00,-1.20961939e+01, 2.73061618e+01,
 -9.01988945e-02,-1.14031126e+01, 4.43663770e+00,-1.64304460e+01,
 -1.73795301e+00, 3.03397541e+00,-3.46844618e-02,-4.23123033e+01,
 -3.11455602e+01,-2.19857542e+00]

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([ 6.24518483,  0.66187838, -6.21001213,  0.66187838, 65.68466445,
        6.33520611, -6.21001213,  6.33520611,  6.9204067 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005775625925957817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.20845913e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.20845913e-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([ 0.10814404, -0.09322692,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.57448670e-05, 9.08913398e-06,-4.90510512e+00,-7.18752604e-03,
 -1.25401689e-03,-1.74073747e-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,
  9.50639139e-02,-7.00050908e-02, 1.30427390e-01, 9.99974706e-01,
  8.33668336e-05, 3.01855131e-04,-7.10558799e-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, -1.70643454,  2.96438365, -0.24821492,-41.47513472,
 -29.87037918, -2.56810538]

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([ 6.29102706,  0.30349065,  6.28370233,  0.30349065, 42.9728568 ,
       -1.7716613 ,  6.28370233, -1.7716613 ,  6.37659487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005830555641615498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76036545e-14, -7.14054817e-14,  1.00000000e+00,  3.39916188e-27,
        1.00000000e+00,  7.14054817e-14, -1.00000000e+00,  0.00000000e+00,
        4.76036545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10813858, -0.0932264 ,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.54080530e-05, 8.26671635e-06,-4.90502345e+00,-7.19165508e-03,
 -1.25787227e-03,-4.57604158e-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,
  9.50516275e-02,-6.99925649e-02, 1.30423456e-01, 9.99974024e-01,
  3.42154975e-06, 1.96930247e-04,-7.20508844e-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, -1.67934155,  2.90538059, -0.43409984,-40.7591751 ,
 -28.83214357, -2.84706524]

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([ 6.2994685 ,  0.66699136,  6.26405827,  0.66699136, 52.87496823,
       -4.95931783,  6.26405827, -4.95931783,  6.82753226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005840667522426929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75212388e-14,  2.37606194e-14,  1.00000000e+00, -1.12913407e-27,
        1.00000000e+00, -2.37606194e-14, -1.00000000e+00,  0.00000000e+00,
        4.75212388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10813499, -0.09322734,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.72612936e-06, 2.05559606e-05,-4.90501051e+00,-7.19059879e-03,
 -1.25832051e-03,-4.17826029e-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,
  9.50327158e-02,-6.99686157e-02, 1.30417140e-01, 9.99973264e-01,
 -1.57234422e-04, 3.66030744e-05,-7.31068310e-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 , -1.65636145,  2.85578487, -0.59544677,-40.15410702,
 -27.99119179, -3.05515729]

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([  6.27771259,   1.09199119,   6.18200862,   1.09199119,
        63.87438675, -10.17388754,   6.18200862, -10.17388754,
         8.07483003,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005814604802066581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54684852e-14,  9.54684852e-14,  1.00000000e+00, -9.11423166e-27,
        1.00000000e+00, -9.54684852e-14, -1.00000000e+00,  0.00000000e+00,
        9.54684852e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10813289, -0.09322944,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.65912922e-05, 4.56273675e-05,-4.90506132e+00,-7.18441882e-03,
 -1.25556770e-03,-7.91557355e-07]


--- 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,
  9.50114034e-02,-6.99561851e-02, 1.30412683e-01, 9.99972520e-01,
 -2.35113786e-04,-1.31369742e-04,-7.40854091e-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 , -0.60014305, -2.87961312,  0.46496839, 41.41500529,
  -3.52075153,  3.86929532]

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([ 6.34434719, -1.08784516,  6.25038673, -1.08784516, 37.77069339,
        5.46958135,  6.25038673,  5.46958135,  7.29629751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005894417584797057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.41758035e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.41758035e-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([ 0.09872796, -0.04639279,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.05166051e-05, 8.31143479e-05,-4.90517209e+00,-7.17317167e-03,
 -1.24976937e-03, 5.39909055e-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,
  9.49891416e-02,-6.99550325e-02, 1.30409358e-01, 9.99971794e-01,
 -2.32253485e-04,-2.97962072e-04,-7.50128215e-03]

qacc:
[ -1.35327412, -1.1193783 ,  3.01217898,  3.28401792, -0.82927126,
  -1.90745627,  7.91135414,-10.48698711,  7.68073211,  2.69417857,
 -12.58928939, 28.60889036,  0.18442527,-13.81431176,  7.89906747,
 -27.66383243, -0.23734531, -2.81951106,  0.28259513, 40.36394768,
   0.988706  ,  2.55313516]

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([  6.40242789,  -1.99607431,  -6.08331902,  -1.99607431,
        40.35242304, -11.13975986,  -6.08331902, -11.13975986,
        10.05763459,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005963972563324953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97004062e-08,  1.86154952e-13,  1.00000000e+00, -3.66732817e-21,
        1.00000000e+00, -1.86154952e-13, -1.00000000e+00,  7.52316385e-37,
        1.97004062e-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([ 0.09623602, -0.0464703 ,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.02798602e-05, 6.45422758e-05,-4.90511876e+00,-7.16865228e-03,
 -1.23506612e-03, 4.54442960e-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,
  9.49739818e-02,-6.99595525e-02, 1.30408575e-01, 9.99971055e-01,
 -1.94022612e-04,-4.07645443e-04,-7.59508367e-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,  1.77547711, -1.41816851,  0.63587272, 17.47118275,
  28.58646055, -0.52882822]

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([  6.43400767,  -3.73126502,  -5.24157572,  -3.73126502,
        33.87207517, -19.53204664,  -5.24157572, -19.53204664,
        20.33807893,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006001797795826497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51182213e-07, -1.51182256e-07,  1.00000000e+00, -2.28560681e-14,
        1.00000000e+00,  1.51182256e-07, -1.00000000e+00,  0.00000000e+00,
       -1.51182213e-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([ 0.08233776, -0.05803954,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.40421063e-06, 5.47696965e-05,-4.90509852e+00,-7.16919321e-03,
 -1.22119838e-03, 3.61432673e-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,
  9.49657873e-02,-6.99695980e-02, 1.30409470e-01, 9.99970314e-01,
 -1.20437698e-04,-4.62294963e-04,-7.69045348e-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,  1.74135063, -1.38137073,  0.41908493, 17.4671955 ,
  27.65053935, -0.78599732]

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([ 6.45648027,  3.62564604, -5.34236167,  3.62564604, 47.46296395,
       27.82945153, -5.34236167, 27.82945153, 25.34320995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006028721212814475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20778209e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.20778209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233029, -0.05804719,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.03559734e-05, 3.93902103e-05,-4.90505034e+00,-7.17266478e-03,
 -1.21294285e-03, 4.36257293e-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,
  9.49644372e-02,-6.99850516e-02, 1.30411291e-01, 9.99969567e-01,
 -1.15172813e-05,-4.63482369e-04,-7.78778660e-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,  1.71108045, -1.35200376,  0.23177303, 17.46119887,
  26.86625367, -0.98660161]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006016274592600818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61341569e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.61341569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233168, -0.0580446 ,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.03065237e-05, 2.66748038e-05,-4.90503105e+00,-7.17828686e-03,
 -1.20803464e-03, 5.37692755e-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,
  9.49698298e-02,-7.00058170e-02, 1.30413395e-01, 9.99968800e-01,
  1.32698580e-04,-4.12490418e-04,-7.88738803e-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,  1.68566835, -1.327959  ,  0.07070108, 17.44347909,
  26.22632928, -1.14207174]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005972363942998299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39420048e-13, -9.29466988e-14,  1.00000000e+00,  1.29586332e-26,
        1.00000000e+00,  9.29466988e-14, -1.00000000e+00,  0.00000000e+00,
        1.39420048e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233209, -0.05804197,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.41740381e-05, 1.62650497e-05,-4.90503861e+00,-7.18607900e-03,
 -1.20635890e-03, 6.63730517e-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,
  9.49818809e-02,-7.00318165e-02, 1.30415230e-01, 9.99967987e-01,
  3.12164549e-04,-3.10357746e-04,-7.98949188e-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 ,  1.66463432, -1.30852916, -0.06729311, 17.42230749,
  25.70840311, -1.26202425]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005903740838156535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70135400e-14, -9.40270800e-14,  1.00000000e+00,  4.42054589e-27,
        1.00000000e+00,  9.40270800e-14, -1.00000000e+00,  0.00000000e+00,
        4.70135400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233171, -0.05803931,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.18945143e-05, 7.89917376e-06,-4.90507146e+00,-7.19605364e-03,
 -1.20782514e-03, 8.12934527e-06]


--- 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,
  9.49869960e-02,-7.00456173e-02, 1.30416852e-01, 9.99967121e-01,
  4.09071118e-04,-2.70739505e-04,-8.09420231e-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, -1.73399682,  3.0496731 , -0.053078  ,-41.0290459 ,
 -31.58643376, -1.28088338]

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([ 6.35333226,  3.67067928, -5.18564793,  3.67067928, 28.29214673,
       15.52946765, -5.18564793, 15.52946765, 17.34592103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005905177614437956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40042025e-14, -4.70021013e-14,  1.00000000e+00,  4.41839504e-27,
        1.00000000e+00,  4.70021013e-14, -1.00000000e+00,  0.00000000e+00,
        9.40042025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10809456, -0.09324402,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -7.34311575e-05, 1.39880577e-06,-4.90512840e+00,-7.20821814e-03,
 -1.21236142e-03, 9.84275700e-06]


--- 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,
  9.49853004e-02,-7.00475187e-02, 1.30417404e-01, 9.99966226e-01,
  4.24641216e-04,-2.90912408e-04,-8.20260537e-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, -1.70266175,  2.97485346, -0.26775333,-40.42541164,
 -30.22452545, -1.82313368]

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([ 6.38643537, -1.45098606,  6.21942089, -1.45098606, 36.21144738,
        6.95815214,  6.21942089,  6.95815214,  8.00976686,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005944819857391787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33773479e-14, -9.33773479e-14,  1.00000000e+00,  8.71932911e-27,
        1.00000000e+00,  9.33773479e-14, -1.00000000e+00,  0.00000000e+00,
        9.33773479e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10808869, -0.09324575,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.61438138e-05, 2.70149240e-06,-4.90503258e+00,-7.21279166e-03,
 -1.21862481e-03, 5.86056593e-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,
  9.49769019e-02,-7.00377725e-02, 1.30416140e-01, 9.99965293e-01,
  3.59946490e-04,-3.68663911e-04,-8.31553486e-03]

qacc:
[ -3.96773434,  0.24578904, -0.96597298,  3.62465054,  4.41909281,
  -2.02960985,  4.45914488,  4.47331658,  8.62477892, -1.0213809 ,
   0.16714042, 11.37576198, -0.85353794, -2.76985435, 15.4881014 ,
 -53.14753393, -1.67576079,  2.91190501, -0.4537724 ,-39.89555983,
 -29.11848483, -2.23939539]

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([ 6.38339688, -1.09620441,  6.28856833, -1.09620441, 46.35059246,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005941181077181584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.67172693e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.67172693e-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([ 0.10808481, -0.09324852,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.39026764e-06, 1.56966250e-05,-4.90500384e+00,-7.21237360e-03,
 -1.22129002e-03, 5.11233065e-06]


--- 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,
  9.49618914e-02,-7.00165888e-02, 1.30412418e-01, 9.99964287e-01,
  2.15909409e-04,-5.02204559e-04,-8.43362681e-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, -1.65296368,  2.85934969, -0.61454124,-39.43878113,
 -28.22443415, -2.55677886]

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([ 6.35134597, -0.6499824 ,  6.31799956, -0.6499824 , 59.03787724,
        5.42027865,  6.31799956,  5.42027865,  6.90897275,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0005902798952285571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70210418e-14,  7.05315627e-14,  1.00000000e+00, -3.31646756e-27,
        1.00000000e+00, -7.05315627e-14, -1.00000000e+00,  0.00000000e+00,
        4.70210418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10808252, -0.09325213,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.73502384e-05, 4.04789133e-05,-4.90503767e+00,-7.20698454e-03,
 -1.22061040e-03, 7.35851284e-06]


--- 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,
  9.49539403e-02,-7.00011849e-02, 1.30411613e-01, 9.99963264e-01,
  1.07273115e-04,-5.74444386e-04,-8.55157038e-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,  1.76484231, -1.44491523,  0.7290279 , 17.44130687,
  30.79860643,  0.05861159]

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([ 6.3628146 , -3.55532059,  5.27684614, -3.55532059, 28.5731079 ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0005916533015851988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.38237834e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.38237834e-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([ 0.08234947, -0.05802518,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.62203192e-05, 7.69889866e-05,-4.90513064e+00,-7.19664993e-03,
 -1.21677692e-03, 1.24163273e-05]


--- 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,
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  9.49529209e-02,-6.99913994e-02, 1.30412818e-01, 9.99962240e-01,
  3.40655850e-05,-5.88179270e-04,-8.67012908e-03]

qacc:
[ -2.35549327, -2.10518742,  9.62643954,-18.0343803 , -5.5348538 ,
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 -11.85398096,  1.73289553, -1.40461574,  0.50275667, 17.46339967,
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qfrc_actuator:
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  0.09177865, 0.00188657, 0.09      ,-0.00146053, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
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  dim: 3
  dist: -0.0005969111440899122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.29973444e-14, -1.85994689e-13,  1.00000000e+00,  1.72970121e-26,
        1.00000000e+00,  1.85994689e-13, -1.00000000e+00,  0.00000000e+00,
        9.29973444e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235511, -0.05802259,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.26315884e-05, 4.62784231e-05,-4.90505815e+00,-7.19154740e-03,
 -1.21035974e-03, 1.03956886e-05]


--- 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,
  9.49587232e-02,-6.99870972e-02, 1.30415249e-01, 9.99961219e-01,
 -3.74744333e-06,-5.45679924e-04,-8.78989410e-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,  1.70544729, -1.37083419,  0.30646898, 17.45244907,
  28.26947077, -0.61448513]

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([ 6.41420248,  2.43883266, -5.9324606 ,  2.43883266, 46.43874553,
       16.4540769 , -5.9324606 , 16.4540769 , 13.17846825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005978074810634587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.28579066e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.28579066e-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([ 0.08235889, -0.05801999,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.50052340e-05, 1.92624975e-05,-4.90501757e+00,-7.18853802e-03,
 -1.20758033e-03, 8.75301674e-06]


--- 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,
  9.49712544e-02,-6.99881660e-02, 1.30418229e-01, 9.99960193e-01,
 -6.23513496e-06,-4.48782852e-04,-8.91132110e-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,  1.68222896, -1.34272914,  0.13705101, 17.42245483,
  27.35306294, -0.84052461]

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([ 6.39234303,  2.16695339, -6.01384756,  2.16695339, 59.51147256,
       19.14027201, -6.01384756, 19.14027201, 13.28910538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000595189475723179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66331761e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.66331761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823612 , -0.05801736,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.34493801e-05,-4.71504139e-06,-4.90500588e+00,-7.18765677e-03,
 -1.20826419e-03, 7.44188451e-06]


--- 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,
  9.49904373e-02,-6.99945129e-02, 1.30421174e-01, 9.99959141e-01,
  2.65180981e-05,-2.98964686e-04,-9.03475914e-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,
  1.66292885e+00,-1.31955390e+00,-8.55625523e-03, 1.73835112e+01,
  2.66165164e+01,-1.01333481e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000589782865269603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.7060668e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.7060668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08236233, -0.0580147 ,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.95687531e-06,-2.61279108e-05,-4.90502083e+00,-7.18892527e-03,
 -1.21227309e-03, 6.42544104e-06]


--- 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,
  9.50162091e-02,-7.00060625e-02, 1.30423586e-01, 9.99958033e-01,
  9.44266100e-05,-9.74028655e-05,-9.16047318e-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,  1.64722279, -1.30065458, -0.13324358, 17.34283628,
  26.02954159, -1.14415028]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005822059046413641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43019379e-13, -9.53462526e-14,  1.00000000e+00,  1.36363618e-26,
        1.00000000e+00,  9.53462526e-14, -1.00000000e+00,  0.00000000e+00,
        1.43019379e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08236255, -0.05801202,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.11628402e-05,-4.53151704e-05,-4.90506075e+00,-7.19235618e-03,
 -1.21949806e-03, 5.67538489e-06]


--- 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,
  9.50352349e-02,-7.00055357e-02, 1.30425118e-01, 9.99956867e-01,
  8.24416378e-05, 4.17348936e-05,-9.28741447e-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, -1.68652059,  3.01909961, -0.22009534,-39.65920606,
 -31.5767131 , -0.60702377]

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([ 6.2464344 ,  3.5639804 , -5.12991096,  3.5639804 , 23.57664131,
       12.04007599, -5.12991096, 12.04007599, 14.61121796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000577712363091426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80439357e-14,  1.20109839e-13,  1.00000000e+00,  5.77054939e-27,
        1.00000000e+00, -1.20109839e-13, -1.00000000e+00,  0.00000000e+00,
       -4.80439357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10804766, -0.09328332,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.41455881e-05,-6.25146452e-05,-4.90512444e+00,-7.19795633e-03,
 -1.22985391e-03, 5.17085601e-06]


--- 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,
  9.50476216e-02,-6.99932050e-02, 1.30425013e-01, 9.99955652e-01,
 -8.77446393e-06, 1.21274852e-04,-9.41700097e-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, -1.65976124,  2.95096591, -0.40935488,-39.33704425,
 -30.16564954, -1.32197309]

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([ 6.25998838, -2.07477186,  5.90616426, -2.07477186, 31.38031648,
        8.82450056,  5.90616426,  8.82450056,  9.35994033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005793367433925001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79092271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.79092271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10804139, -0.09328695,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.34560378e-06,-4.37240880e-05,-4.90504808e+00,-7.19540810e-03,
 -1.24310626e-03,-7.61285375e-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,
  9.50534620e-02,-6.99692976e-02, 1.30422614e-01, 9.99954368e-01,
 -1.78618308e-04, 1.43505436e-04,-9.55033677e-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, -1.63655656,  2.89419288, -0.57318268,-39.04205976,
 -29.02361475, -1.87990813]

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([ 6.242965  , -1.76970236,  5.98688279, -1.76970236, 40.18344673,
       10.0326919 ,  5.98688279, 10.0326919 ,  9.20859488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005772965214168035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.21178145e-14, -2.88471258e-13,  1.00000000e+00,  2.08039167e-26,
        1.00000000e+00,  2.88471258e-13, -1.00000000e+00,  0.00000000e+00,
        7.21178145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10803715, -0.09329115,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.95152376e-05,-1.51747057e-05,-4.90503701e+00,-7.18808323e-03,
 -1.25274861e-03,-3.59231445e-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,
  9.50568627e-02,-6.99567006e-02, 1.30421581e-01, 9.99953147e-01,
 -2.65202307e-04, 1.59276525e-04,-9.67514568e-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,-0.60994214,-2.82761245,
  0.34116124,41.65826188,-2.83278617, 4.26894709]

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([ 6.31357592, -1.22988153,  6.19262725, -1.22988153, 31.87104095,
        5.07581884,  6.19262725,  5.07581884,  7.32165465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005857565082755672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47683047e-14,  9.47683047e-14,  1.00000000e+00, -8.98103157e-27,
        1.00000000e+00, -9.47683047e-14, -1.00000000e+00,  0.00000000e+00,
        9.47683047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09883989, -0.04641178,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.18943248e-05, 2.37269269e-05,-4.90508724e+00,-7.17594881e-03,
 -1.25905567e-03,-3.53009766e-06]


--- 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,
  9.50579158e-02,-6.99551613e-02, 1.30421013e-01, 9.99952000e-01,
 -2.70517711e-04, 1.66845837e-04,-9.79268731e-03]

qacc:
[  2.92421356, -2.25567232,  9.7693609 ,-16.3443364 ,  1.16696422,
  -1.36245361,  3.18999447,  1.97393111,  0.8211706 ,  1.30427622,
  -6.45673121, 16.00565949, -0.39537879, -6.29026309,  4.21533527,
 -14.76615334, -0.58690149, -2.76442959,  0.11657191, 40.67150203,
  -3.70852335,  3.63921022]

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([ 6.35755685, -1.7115063 , -6.12284862, -1.7115063 , 35.16193287,
       -8.05162339, -6.12284862, -8.05162339,  8.60820929,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005910236699150917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39237361e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.39237361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09884658, -0.04641376,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.31299352e-05, 1.02435878e-05,-4.90502159e+00,-7.17045629e-03,
 -1.25443535e-03,-3.29726911e-06]


--- 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,
  9.50566971e-02,-6.99644652e-02, 1.30420133e-01, 9.99950922e-01,
 -1.96240533e-04, 1.64862753e-04,-9.90395779e-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, -0.56796375, -2.71079745, -0.0781369 , 39.84063909,
  -4.38711002,  3.14111004]

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([  6.36486608,  -1.98011329,  -6.04902237,  -1.98011329,
        43.25462118, -12.07565289,  -6.04902237, -12.07565289,
        10.31776282,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005918989720580525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87569683e-13, -9.37848414e-14,  1.00000000e+00,  1.75911930e-26,
        1.00000000e+00,  9.37848414e-14, -1.00000000e+00,  0.00000000e+00,
        1.87569683e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09885207, -0.04641414,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.01930682e-07, 7.34626070e-06,-4.90499954e+00,-7.16994943e-03,
 -1.25016715e-03,-3.04464180e-06]


--- 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,
  9.50532684e-02,-6.99844320e-02, 1.30418268e-01, 9.99949889e-01,
 -4.37682930e-05, 1.52279810e-04,-1.00097453e-02]

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, -0.55247956, -2.66572321, -0.24629032, 39.14765477,
  -4.91299042,  2.74696034]

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([  6.34259354,  -2.30838729,  -5.90760874,  -2.30838729,
        52.64377648, -18.09210236,  -5.90760874, -18.09210236,
        13.41204938,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000589231748402877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42093690e-14,  9.42093690e-14,  1.00000000e+00, -8.87540521e-27,
        1.00000000e+00, -9.42093690e-14, -1.00000000e+00,  0.00000000e+00,
        9.42093690e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09885663, -0.04641322,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.71867506e-05, 1.40648704e-05,-4.90501848e+00,-7.17434058e-03,
 -1.24599854e-03,-2.84062625e-06]


--- 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,
  9.50475532e-02,-7.00144786e-02, 1.30415177e-01, 9.99948859e-01,
  1.82636499e-04, 1.27097033e-04,-1.01108440e-02]

qacc:
[ -3.11491792, -3.18841235, 13.31386894,-21.7618852 ,  3.26595058,
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 -16.12735945, -0.57164178, -2.51994159, -0.30651616, 37.0271283 ,
  -5.92968209,  2.34970764]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005837365666873898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.11978999e-07,  6.11978904e-07,  1.00000000e+00,  3.74518237e-13,
        1.00000000e+00, -6.11978904e-07, -1.00000000e+00,  0.00000000e+00,
       -6.11978999e-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([ 0.0990731 , -0.04750105,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.03035975e-05, 2.97187303e-05,-4.90507638e+00,-7.18355335e-03,
 -1.24174124e-03,-2.72918838e-06]


--- 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,
  9.50348834e-02,-7.00322006e-02, 1.30412490e-01, 9.99947765e-01,
  3.22409182e-04, 3.83561577e-05,-1.02157366e-02]

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, -1.73862483,  3.08115589,  0.10095555,-42.99228041,
 -32.21572771, -1.89691206]

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([ 6.40109667,  0.84619011, -6.3449193 ,  0.84619011, 56.45152878,
        6.67497547, -6.3449193 ,  6.67497547,  7.29130472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005962378240090271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65511823e-14,  4.65511823e-14,  1.00000000e+00, -2.16701257e-27,
        1.00000000e+00, -4.65511823e-14, -1.00000000e+00,  0.00000000e+00,
        4.65511823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10800033, -0.09329695,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.84513268e-05, 5.31884202e-05,-4.90516748e+00,-7.19730448e-03,
 -1.23730346e-03,-2.77693654e-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,
  9.50153878e-02,-7.00379065e-02, 1.30409259e-01, 9.99946616e-01,
  3.77528133e-04,-1.11041595e-04,-1.03252525e-02]

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, -1.70647133,  3.00399207, -0.13592027,-42.01473021,
 -30.7599992 , -2.30365012]

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([ 6.45833942,  0.43001344,  6.4440078 ,  0.43001344, 36.0109396 ,
       -1.97206702,  6.4440078 , -1.97206702,  6.58993692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006030948887558035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.90328573e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.90328573e-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([ 0.10799371, -0.09329576,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.86447872e-05, 5.06142983e-05,-4.90509461e+00,-7.20452679e-03,
 -1.23565422e-03,-2.86696497e-06]


--- 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,
  9.49891767e-02,-7.00318592e-02, 1.30404660e-01, 9.99945390e-01,
  3.49684094e-04,-3.18740234e-04,-1.04400130e-02]

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, -1.67887069,  2.93832837, -0.34213095,-41.17857182,
 -29.5781888 , -2.60696876]

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([ 6.47355899,  0.74708903,  6.43030513,  0.74708903, 44.63670099,
       -4.43388989,  6.43030513, -4.43388989,  6.98869948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006049187351232777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.29415738e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.29415738e-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([ 0.10798926, -0.09329627,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.63157555e-05, 6.16422244e-05,-4.90509232e+00,-7.20650822e-03,
 -1.23039981e-03, 4.17815802e-07]


--- 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,
  9.49563434e-02,-7.00142803e-02, 1.30397976e-01, 9.99944038e-01,
  2.40307465e-04,-5.82836405e-04,-1.05604770e-02]

qacc:
[ -3.60605853, -0.48139725,  1.93356319, -2.19443884,  4.73716115,
  -2.21335769,  8.8306659 ,-11.50112697,  1.743278  ,  1.92342973,
  -9.63689845, 22.37153685, -1.23641649,  1.00934582,  4.74090837,
 -16.32646685, -1.65553763,  2.88290406, -0.52105514,-40.47056135,
 -28.62384467, -2.82936467]

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([ 6.45481731,  1.12453942,  6.35610554,  1.12453942, 54.60225443,
       -8.51837507,  6.35610554, -8.51837507,  7.96191131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006026728660298436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60541318e-14, -1.15135330e-13,  1.00000000e+00,  5.30245764e-27,
        1.00000000e+00,  1.15135330e-13, -1.00000000e+00,  0.00000000e+00,
        4.60541318e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10798653, -0.09329814,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.68171415e-08, 8.58142105e-05,-4.90515496e+00,-7.20332377e-03,
 -1.22178129e-03, 6.79262051e-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,
  9.49307513e-02,-7.00027217e-02, 1.30395460e-01, 9.99942642e-01,
  1.66554215e-04,-7.84104523e-04,-1.06803927e-02]

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,  1.81029313, -1.50508911,  1.04188122, 17.4791119 ,
  31.60042208,  0.25595382]

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([ 6.49539343, -3.53428541,  5.44967544, -3.53428541, 30.78001719,
       15.74934001,  5.44967544, 15.74934001, 16.70933428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006075360042172712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82741931e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82741931e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240911, -0.05796857,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17593667e-05, 1.22649650e-04,-4.90527830e+00,-7.19504243e-03,
 -1.20997943e-03, 1.60433133e-05]


--- 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,
  9.49122306e-02,-6.99969887e-02, 1.30396013e-01, 9.99941235e-01,
  1.28512079e-04,-9.25667420e-04,-1.08006366e-02]

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,  1.76784807, -1.45641089,  0.76744421, 17.53556732,
  30.04157185, -0.18310059]

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([ 6.57396512,  3.29030438, -5.69130165,  3.29030438, 29.89492707,
       13.48251557, -5.69130165, 13.48251557, 14.36859325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006169639548367079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.99747073e-14, -8.99747073e-14,  1.00000000e+00,  8.09544795e-27,
        1.00000000e+00,  8.99747073e-14, -1.00000000e+00,  0.00000000e+00,
        8.99747073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241563, -0.05796592,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16009297e-05, 9.19594191e-05,-4.90516092e+00,-7.19221507e-03,
 -1.19558656e-03, 1.52963029e-05]


--- 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,
  9.49006342e-02,-6.99969180e-02, 1.30398683e-01, 9.99939836e-01,
  1.26181739e-04,-1.01008284e-03,-1.09218905e-02]

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,  1.7310744 , -1.41556538,  0.52907471, 17.54576589,
  28.76485274, -0.52516149]

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([ 6.60697616,  3.12012307, -5.82382744,  3.12012307, 38.38235948,
       17.02370263, -5.82382744, 17.02370263, 15.72744681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006209309354681808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46999401e-14, -2.68199641e-13,  1.00000000e+00, -1.19885079e-26,
        1.00000000e+00,  2.68199641e-13, -1.00000000e+00,  0.00000000e+00,
       -4.46999401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242007, -0.05796322,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.20315926e-06, 6.56803008e-05,-4.90507941e+00,-7.19145166e-03,
 -1.18490926e-03, 1.49165139e-05]


--- 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,
  9.48958362e-02,-7.00023735e-02, 1.30402646e-01, 9.99938453e-01,
  1.59512293e-04,-1.03943949e-03,-1.10446839e-02]

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,  1.69959332, -1.38155138,  0.32322951, 17.52792374,
  27.72238291, -0.79108505]

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([ 6.6030908 ,  2.87326882, -5.94517741,  2.87326882, 49.86433604,
       20.90790206, -5.94517741, 20.90790206, 16.70775529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006204638079657515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94671865e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.94671865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242284, -0.05796047,  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:
[-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,
 -1.27274781e-06, 4.29794788e-05,-4.90502987e+00,-7.19280110e-03,
 -1.17775384e-03, 1.48626915e-05]


--- 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,
  9.48977301e-02,-7.00132429e-02, 1.30407194e-01, 9.99937078e-01,
  2.28426696e-04,-1.01543621e-03,-1.11694264e-02]

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,  1.67297234, -1.35346876,  0.14631509, 17.49514316,
  26.87467949, -0.99719499]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006164445310684885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00505211e-14, -1.80101042e-13,  1.00000000e+00,  1.62181927e-26,
        1.00000000e+00,  1.80101042e-13, -1.00000000e+00,  0.00000000e+00,
        9.00505211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824243 , -0.05795767,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.36985039e-05, 2.32499949e-05,-4.90500932e+00,-7.19629497e-03,
 -1.17396520e-03, 1.51006346e-05]


--- 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,
  9.49062270e-02,-7.00294344e-02, 1.30411722e-01, 9.99935697e-01,
  3.32839859e-04,-9.39447052e-04,-1.12964336e-02]

qacc:
[ 5.43658857e+00, 1.54440016e+00,-7.96110826e+00, 1.99054457e+01,
  1.40502499e+00,-1.66086638e+00, 6.13678002e+00,-6.91007145e+00,
  1.37773434e+01, 2.01514598e+00,-7.90080288e+00, 1.41814719e+01,
 -7.14698731e-01,-2.68186810e+00, 3.49220308e+00,-1.27462257e+01,
  1.65076803e+00,-1.33052318e+00,-5.12096826e-03, 1.74567890e+01,
  2.61892884e+01,-1.15626586e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006096263319186473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10576665e-14, -1.82115333e-13,  1.00000000e+00,  1.65829973e-26,
        1.00000000e+00,  1.82115333e-13, -1.00000000e+00,  0.00000000e+00,
        9.10576665e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242471, -0.05795482,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.99778508e-05, 6.05113893e-06,-4.90501554e+00,-7.20195311e-03,
 -1.17341963e-03, 1.56031788e-05]


--- 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,
  9.49216018e-02,-7.00480853e-02, 1.30416553e-01, 9.99934307e-01,
  4.52328310e-04,-8.12864543e-04,-1.14243874e-02]

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, 1.71947554,-0.61485884,
  0.07586687, 7.25095337,25.38003801,-0.48881004]

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([ 6.43942694,  0.21469129, -6.43584703,  0.21469129, 45.94948797,
        1.31800304, -6.43584703,  1.31800304,  6.48339377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006008289806112952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61954674e-14, -4.36631058e-07,  1.00000000e+00, -2.01703758e-20,
        1.00000000e+00,  4.36631058e-07, -1.00000000e+00, -3.00926554e-36,
       -4.61954674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0821247 , -0.06376434,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.00455527e-05,-8.93340904e-06,-4.90504683e+00,-7.20978760e-03,
 -1.17601889e-03, 1.63497099e-05]


--- 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,
  9.49442278e-02,-7.00626570e-02, 1.30421617e-01, 9.99932975e-01,
  5.40169661e-04,-6.38251348e-04,-1.15475294e-02]

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,  1.81279617,  1.01982217,  0.05838026,-16.09492878,
  23.83410305,  2.40803314]

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([ 6.3744267 ,  0.10184707, -6.37361302,  0.10184707, 33.66744995,
        0.43612852, -6.37361302,  0.43612852,  6.38139581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005930438856843255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36037831e-14, -8.30090891e-07,  1.00000000e+00, -7.76996477e-20,
        1.00000000e+00,  8.30090891e-07, -1.00000000e+00,  1.20370622e-35,
       -9.36037831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156947, -0.07690514,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.30884128e-05,-2.58001895e-05,-4.90508503e+00,-7.21849524e-03,
 -1.18295605e-03, 1.66216790e-05]


--- 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,
  9.49670645e-02,-7.00670847e-02, 1.30426853e-01, 9.99931667e-01,
  5.56872117e-04,-4.70965079e-04,-1.16674857e-02]

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,  0.05266538,  2.53596972,  0.04275519,-35.52374877,
  -4.07308884,  1.61760396]

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([ 6.31688288,  5.30765407, -3.42517411,  5.30765407, 16.68767258,
       16.07058865, -3.42517411, 16.07058865, 31.21988712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005861525865286228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18712841e-07, -2.36760668e-14,  1.00000000e+00, -2.81065315e-21,
        1.00000000e+00,  2.36760668e-14, -1.00000000e+00, -3.76158192e-37,
       -1.18712841e-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([ 0.09462737, -0.08901418,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.10250438e-05,-4.82435937e-05,-4.90510542e+00,-7.22495827e-03,
 -1.19584146e-03, 1.43673087e-05]


--- 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,
  9.49833019e-02,-7.00597177e-02, 1.30430300e-01, 9.99930310e-01,
  4.95626628e-04,-3.62571712e-04,-1.17897588e-02]

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, -1.64983623,  2.94870661, -0.44705387,-38.6282759 ,
 -29.89982445, -1.123878  ]

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([ 6.31666489,  6.27953553,  0.6838778 ,  6.27953553,  6.62572929,
       -2.83790588,  0.6838778 , -2.83790588, 32.37502021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005861264777490965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73542429e-14,  7.10313644e-14,  1.00000000e+00, -3.36363649e-27,
        1.00000000e+00, -7.10313644e-14, -1.00000000e+00,  0.00000000e+00,
        4.73542429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10793177, -0.09334345,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.38443476e-05,-5.16743347e-05,-4.90507422e+00,-7.22554403e-03,
 -1.21026777e-03, 8.83596700e-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,
  9.49930333e-02,-7.00407872e-02, 1.30431321e-01, 9.99928896e-01,
  3.56833304e-04,-3.10893985e-04,-1.19154917e-02]

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, -1.62648138,  2.89085239, -0.60672911,-38.437497  ,
 -28.81384604, -1.70202859]

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([ 6.28819774, -2.43693331,  5.79679108, -2.43693331, 38.11368246,
       13.379227  ,  5.79679108, 13.379227  , 11.91273785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005827166267872858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52626863e-14, -1.42894029e-13,  1.00000000e+00,  1.36124691e-26,
        1.00000000e+00,  1.42894029e-13, -1.00000000e+00,  0.00000000e+00,
        9.52626863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10792807, -0.09334877,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.49525992e-05,-2.88983904e-05,-4.90503804e+00,-7.22014929e-03,
 -1.22132321e-03, 4.72264860e-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,
  9.49963384e-02,-7.00104836e-02, 1.30429365e-01, 9.99927390e-01,
  1.40858293e-04,-3.14174375e-04,-1.20455749e-02]

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, -1.60656838,  2.84326634, -0.74406838,-38.26133329,
 -27.93772445, -2.15366067]

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([ 6.23707937, -2.03553309,  5.89557157, -2.03553309, 49.85335594,
       15.05916317,  5.89557157, 15.05916317, 11.4364777 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005765910212519598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81373705e-14, -1.20343426e-13,  1.00000000e+00,  5.79301610e-27,
        1.00000000e+00,  1.20343426e-13, -1.00000000e+00,  0.00000000e+00,
        4.81373705e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10792588, -0.09335435,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.79688402e-05, 3.88234923e-06,-4.90506202e+00,-7.21003180e-03,
 -1.22903873e-03, 3.46096276e-06]


--- 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,
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  9.50065025e-02,-6.99858716e-02, 1.30429407e-01, 9.99925844e-01,
 -4.00959396e-05,-2.56597377e-04,-1.21753580e-02]

qacc:
[  1.89767259, -0.4285465 ,  4.16443554,-12.67503711,  0.94013883,
   0.67135056, -2.88315564,  5.96285081,  0.50042858,  0.0856816 ,
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   6.23912378,  1.7147375 , -1.42289217,  0.49956538, 17.14263659,
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qfrc_actuator:
[ 0.00018244,-0.00065228,-0.00090021, 0.00013314,-0.00033864,-0.00075052,
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  0.0869575 , 0.00103651, 0.09      ,-0.00283246, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.19574986, -3.48997576,  5.11931495, -3.48997576, 25.63300867,
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  dim: 3
  dist: -0.0005716349144894717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85547242e-14, -1.94218897e-13,  1.00000000e+00,  9.43024497e-27,
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  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08244107, -0.05793468,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.63250244e-05, 4.70967748e-05,-4.90514347e+00,-7.19516214e-03,
 -1.23362108e-03, 4.90503586e-06]


--- 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,
  9.50234367e-02,-6.99668076e-02, 1.30430690e-01, 9.99924256e-01,
 -1.85968431e-04,-1.40868318e-04,-1.23056083e-02]

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,  1.69252408, -1.38699384,  0.3101218 , 17.18549816,
  29.28744471, -0.23712543]

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([ 6.21930971,  2.17353083, -5.82714141,  2.17353083, 38.15121031,
       11.91063776, -5.82714141, 11.91063776, 10.66199208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005744605938096947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83158913e-14,  9.66317826e-14,  1.00000000e+00, -4.66885071e-27,
        1.00000000e+00, -9.66317826e-14, -1.00000000e+00,  0.00000000e+00,
        4.83158913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08244672, -0.05793193,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.91903397e-05, 1.07529799e-05,-4.90510496e+00,-7.18573217e-03,
 -1.23492875e-03, 9.30520686e-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,
  9.50393105e-02,-6.99587094e-02, 1.30432385e-01, 9.99922711e-01,
 -2.49678158e-04,-2.31740587e-05,-1.24301550e-02]

qacc:
[ -7.6481952 , -0.41423384,  1.16535004,  1.64394952,  2.25097026,
  -0.84663076,  4.50888326, -7.7909307 ,  0.81130511, -0.41311279,
  -0.96884983,  9.41929039, -0.77461569, -2.38200103,  4.40103712,
 -15.81874753, -0.26509514, -2.74144102,  0.1028546 , 41.06658554,
   1.48753016,  2.84625783]

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([  6.23219762,   5.76520773,   2.36699535,   5.76520773,
        10.42871863, -10.22131935,   2.36699535, -10.22131935,
        31.12790744,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005760058050259373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33772913e-07, -1.92745110e-13,  1.00000000e+00, -2.57840748e-20,
        1.00000000e+00,  1.92745110e-13, -1.00000000e+00, -3.00926554e-36,
       -1.33772913e-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([ 0.09647857, -0.04648029,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.82326783e-05,-2.21055910e-05,-4.90509556e+00,-7.17836638e-03,
 -1.23988555e-03,-2.63913069e-06]


--- 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,
  9.50528448e-02,-6.99613847e-02, 1.30433762e-01, 9.99921237e-01,
 -2.32253226e-04, 8.45989495e-05,-1.25482757e-02]

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,-0.58488372,-2.6933768 ,
 -0.07928891,40.62593908,-4.45678568, 3.21096098]

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([ 6.25013755, -0.71750908, -6.20881632, -0.71750908, 51.19415706,
       -5.19386314, -6.20881632, -5.19386314,  6.85035566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005781561984611744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60141072e-14, -1.92028214e-13,  1.00000000e+00,  1.84374176e-26,
        1.00000000e+00,  1.92028214e-13, -1.00000000e+00,  0.00000000e+00,
        9.60141072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09898462, -0.04643084,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.65641641e-05,-3.28923645e-05,-4.90504454e+00,-7.17431191e-03,
 -1.24188827e-03,-2.09774036e-06]


--- 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,
  9.50641084e-02,-6.99746676e-02, 1.30434169e-01, 9.99919824e-01,
 -1.35420273e-04, 1.81462647e-04,-1.26607720e-02]

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,-0.56765675,-2.65192182,
 -0.24253613,39.7690989 ,-4.95666467, 2.81449081]

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([  6.23835504,  -3.47211361,  -5.18280818,  -3.47211361,
        39.7797415 , -22.47034816,  -5.18280818, -22.47034816,
        21.29189336,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000576743938852875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62492148e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.62492148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09898909, -0.04643139,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.12116560e-05,-2.91596188e-05,-4.90502831e+00,-7.17492109e-03,
 -1.24387083e-03,-1.23941149e-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,
  9.50731586e-02,-6.99984193e-02, 1.30433042e-01, 9.99918446e-01,
  3.94032562e-05, 2.66659944e-04,-1.27682729e-02]

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,-0.55335813,-2.61717301,
 -0.38346646,39.06556402,-5.33936334, 2.50400313]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724425419887241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69724421e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.69724421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09899284, -0.04643067,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.38962906e-05,-1.63942256e-05,-4.90505217e+00,-7.18044511e-03,
 -1.24582205e-03,-5.14176969e-07]


--- 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,
  9.50754315e-02,-7.00099197e-02, 1.30431831e-01, 9.99917016e-01,
  1.29227437e-04, 2.88662958e-04,-1.28787133e-02]

qacc:
[ 1.82820473e-01,-8.93586148e-01, 3.00153274e+00,-9.20811776e-01,
  4.24718616e+00, 9.87742991e-01,-5.49281442e+00, 1.58191374e+01,
 -1.44163964e+00, 1.80416539e+00,-7.00666220e+00, 1.42877267e+01,
 -1.82134313e+00, 5.25096971e+00,-3.78273401e+00, 1.27355045e+01,
 -1.69434140e+00, 3.06281603e+00,-2.09686613e-02,-4.20923745e+01,
 -3.21372634e+01,-1.48005342e+00]

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([ 6.22677451,  0.68232345, -6.18927747,  0.68232345, 51.31233162,
        4.97035929, -6.18927747,  4.97035929,  6.77472098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005753556365894058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64814589e-14,  9.64814589e-14,  1.00000000e+00, -9.30867192e-27,
        1.00000000e+00, -9.64814589e-14, -1.00000000e+00,  0.00000000e+00,
        9.64814589e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10788682, -0.09337689,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.21303870e-05, 4.85559994e-06,-4.90511420e+00,-7.19079947e-03,
 -1.24759200e-03, 5.88346581e-08]


--- 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,
  9.50710420e-02,-7.00094541e-02, 1.30429679e-01, 9.99915545e-01,
  1.35655124e-04, 2.50417791e-04,-1.29931397e-02]

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, -1.66556848,  2.99147522, -0.23552037,-41.30625   ,
 -30.6588618 , -2.00121653]

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([ 6.27684219, -0.12593465,  6.27557873, -0.12593465, 35.40325092,
        0.58449175,  6.27557873,  0.58449175,  6.28857143,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0005813561980062693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77428050e-14,  2.38714025e-14,  1.00000000e+00, -1.13968772e-27,
        1.00000000e+00, -2.38714025e-14, -1.00000000e+00,  0.00000000e+00,
        4.77428050e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10787987, -0.09337658,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.39981210e-05, 7.93348948e-06,-4.90502622e+00,-7.19483260e-03,
 -1.25308559e-03,-3.32332136e-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,
  9.50600901e-02,-6.99972647e-02, 1.30425836e-01, 9.99914016e-01,
  6.00646732e-05, 1.54314905e-04,-1.31123522e-02]

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, -1.64062074,  2.93098123, -0.42246759,-40.62912507,
 -29.4595709 , -2.39961848]

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([ 6.28887151,  0.1797096 ,  6.28630332,  0.1797096 , 44.01035809,
       -1.07836242,  6.28630332, -1.07836242,  6.31969918,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005827973418560117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76247464e-14, -2.38123732e-14,  1.00000000e+00,  1.13405824e-27,
        1.00000000e+00,  2.38123732e-14, -1.00000000e+00,  0.00000000e+00,
        4.76247464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10787508, -0.09337768,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.53919575e-06, 2.34090370e-05,-4.90500802e+00,-7.19375851e-03,
 -1.25494591e-03,-3.36698926e-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,
  9.50426610e-02,-6.99735548e-02, 1.30419654e-01, 9.99912383e-01,
 -9.63737879e-05, 2.28569876e-06,-1.32369584e-02]

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, -1.61930723,  2.88012186, -0.58485928,-40.05344804,
 -28.49096387, -2.7017983 ]

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([ 6.27014286,  0.55027277,  6.24595   ,  0.55027277, 54.20673687,
       -4.22324908,  6.24595   , -4.22324908,  6.6422142 ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0005805535206864915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78088146e-14, -2.39044073e-14,  1.00000000e+00,  1.14284138e-27,
        1.00000000e+00,  2.39044073e-14, -1.00000000e+00,  0.00000000e+00,
        4.78088146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10787202, -0.09337991,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08711125e-05, 5.11877259e-05,-4.90505429e+00,-7.18761711e-03,
 -1.25343616e-03,-3.44168726e-07]


--- 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,
  9.50226724e-02,-6.99613120e-02, 1.30415214e-01, 9.99910816e-01,
 -1.70461706e-04,-1.56588730e-04,-1.33531656e-02]

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,-0.63985967,-2.86678445,
  0.43559258,41.21696294,-2.87768065, 4.19930395]

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([ 6.29708673, -1.03367251,  6.21166825, -1.03367251, 33.74853809,
        4.56814652,  6.21166825,  4.56814652,  7.05726376,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0005837814505362943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50889261e-14,  9.50889261e-14,  1.00000000e+00, -9.04190387e-27,
        1.00000000e+00, -9.50889261e-14, -1.00000000e+00,  0.00000000e+00,
        9.50889261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09902239, -0.04643301,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.04465751e-05, 9.10650770e-05,-4.90516103e+00,-7.17644948e-03,
 -1.24875455e-03, 5.53940423e-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,
  9.50016573e-02,-6.99603228e-02, 1.30411813e-01, 9.99909296e-01,
 -1.64231782e-04,-3.12973058e-04,-1.34638097e-02]

qacc:
[  1.52096624,  0.92986739, -5.10008937, 12.96099297,  0.21835826,
  -2.28579047,  9.12410814,-15.1802949 , -5.46705102, -0.60350888,
   0.33812364,  7.8707917 , -0.52903574, -3.15572508,  9.26462372,
 -31.89075227, -0.2566417 , -2.81339517,  0.25963728, 40.13915386,
   1.78071798,  2.77553047]

qfrc_actuator:
[ 1.03725361e-04,-5.32462534e-04,-7.09510785e-04, 7.28059812e-05,
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 -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,
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Contact:
<MjContact
  H: array([  6.35493001,  -2.04867096,  -6.01565314,  -2.04867096,
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         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005907090969516917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39737538e-14, -3.40822695e-07,  1.00000000e+00, -3.20283880e-20,
        1.00000000e+00,  3.40822695e-07, -1.00000000e+00,  0.00000000e+00,
       -9.39737538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09639033, -0.04648339,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.48910891e-05, 7.30580868e-05,-4.90510903e+00,-7.17223503e-03,
 -1.23387867e-03, 4.70964865e-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,
  9.49876583e-02,-6.99651042e-02, 1.30410861e-01, 9.99907761e-01,
 -1.23103165e-04,-4.12450934e-04,-1.35751188e-02]

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,
  1.75405929e+00,-1.44265793e+00, 6.12179962e-01, 1.70645697e+01,
  2.86856318e+01,-3.33351188e-01]

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([  6.40304282,  -3.75925634,  -5.18333379,  -3.75925634,
        28.87220438, -16.29594804,  -5.18333379, -16.29594804,
        18.22181593,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005964709028803278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62956356e-13, -1.86131967e-13,  1.00000000e+00,  3.03313871e-26,
        1.00000000e+00,  1.86131967e-13, -1.00000000e+00,  0.00000000e+00,
        1.62956356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824847 , -0.05789474,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.80956431e-06, 6.32818981e-05,-4.90508969e+00,-7.17308867e-03,
 -1.21999472e-03, 3.84247299e-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,
  9.49805396e-02,-6.99755095e-02, 1.30411506e-01, 9.99906214e-01,
 -4.68941897e-05,-4.56973227e-04,-1.36876865e-02]

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,  1.72003661, -1.40597239,  0.3993548 , 17.16528687,
  27.71344231, -0.63319895]

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([ 6.4239911 ,  3.918658  , -5.09036159,  3.918658  , 40.27994097,
       26.06295969, -5.09036159, 26.06295969, 26.48775745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005989799317012989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26761454e-14, -1.85352291e-13,  1.00000000e+00,  1.71777358e-26,
        1.00000000e+00,  1.85352291e-13, -1.00000000e+00,  0.00000000e+00,
        9.26761454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248755, -0.0578917 ,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.33114787e-05, 4.48085984e-05,-4.90504504e+00,-7.17700868e-03,
 -1.21213799e-03, 4.62822988e-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,
  9.49801853e-02,-6.99914175e-02, 1.30413013e-01, 9.99904646e-01,
  6.45003996e-05,-4.48137469e-04,-1.38019738e-02]

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,
  1.69112001e+00,-1.37568838e+00, 2.15528869e-01, 1.72255895e+01,
  2.69173639e+01,-8.66657024e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005976416465216794
  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([ 0.08248914, -0.05788872,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.57158513e-05, 2.92659273e-05,-4.90502913e+00,-7.18302453e-03,
 -1.20763548e-03, 5.65215835e-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,
  9.49864984e-02,-7.00127294e-02, 1.30414750e-01, 9.99903038e-01,
  2.11138863e-04,-3.87244342e-04,-1.39183375e-02]

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,  1.6668513 , -1.35094323,  0.05743403, 17.26054563,
  26.26934444, -1.04789736]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000593229561702241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.35744859e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.35744859e-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([ 0.08248971, -0.05788578,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.19640719e-05, 1.62345776e-05,-4.90503994e+00,-7.19116897e-03,
 -1.20637205e-03, 6.90372268e-06]


--- 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,
  9.49993987e-02,-7.00393652e-02, 1.30416174e-01, 9.99901361e-01,
  3.93054013e-04,-2.75344464e-04,-1.40370520e-02]

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,  1.64678138, -1.33098478, -0.07803501, 17.28122166,
  25.74613781, -1.18801691]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005864043694225468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73318022e-14, -1.89327209e-13,  1.00000000e+00,  8.96119799e-27,
        1.00000000e+00,  1.89327209e-13, -1.00000000e+00,  0.00000000e+00,
        4.73318022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248948, -0.05788287,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.20164100e-05, 5.41706138e-06,-4.90507592e+00,-7.20146406e-03,
 -1.20825569e-03, 8.37421643e-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,
  9.50055091e-02,-7.00536423e-02, 1.30417573e-01, 9.99899632e-01,
  4.92300726e-04,-2.26815612e-04,-1.41574007e-02]

qacc:
[-2.18046387e+00,-5.43664289e-01, 2.67408891e+00,-7.66509063e+00,
  4.06372798e+00,-3.94234186e+00, 1.67057112e+01,-2.97839726e+01,
 -5.48378934e+00,-1.12755883e+00, 4.04030849e+00,-6.41955199e+00,
 -8.93096015e-01,-1.07029068e+00, 1.78638508e+00,-1.35556887e+01,
 -1.69746440e+00, 3.08965668e+00,-6.52404893e-03,-4.08855863e+01,
 -3.22629268e+01,-7.93538655e-01]

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([ 6.38598515,  3.64844492, -5.24115025,  3.64844492, 26.38380748,
       13.92079026, -5.24115025, 13.92079026, 16.07646036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005944280687327358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33858176e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.33858176e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10782468, -0.09339558,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.58544917e-05,-3.39128084e-06,-4.90513593e+00,-7.21392458e-03,
 -1.21321344e-03, 1.00574671e-05]


--- 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,
  9.50049515e-02,-7.00558758e-02, 1.30418057e-01, 9.99897867e-01,
  5.10049492e-04,-2.38659602e-04,-1.42806788e-02]

qacc:
[ -1.36791996, -2.29273219,  9.83178602,-20.29868237, -3.37043628,
  -0.61117896,  2.90859163, -5.00800322, -3.0705576 , -1.52230258,
   6.11984551,-11.10258368, -1.44703741,  2.40197542, 13.89701255,
 -56.2694152 , -1.66697911,  3.01090081, -0.22850874,-40.31784575,
 -30.76101615, -1.44069534]

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([ 6.42386116, -1.65414133,  6.20723841, -1.65414133, 31.46625129,
        6.67344314,  6.20723841,  6.67344314,  8.20223947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005989643674075423
  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([ 0.10781781, -0.09339753,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.29671393e-05, 7.54502020e-07,-4.90503540e+00,-7.21834894e-03,
 -1.22072955e-03, 5.65181297e-06]


--- 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,
  9.49978313e-02,-7.00463308e-02, 1.30416858e-01, 9.99896053e-01,
  4.47336043e-04,-3.08444325e-04,-1.44078843e-02]

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, -1.64067732,  2.94464614, -0.42087436,-39.81373824,
 -29.54294266, -1.93948307]

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([ 6.42414885, -1.34544691,  6.28167661, -1.34544691, 40.24678359,
        7.24433338,  6.28167661,  7.24433338,  7.97578333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005989988271698915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63366110e-14,  6.95049164e-14,  1.00000000e+00, -3.22062227e-27,
        1.00000000e+00, -6.95049164e-14, -1.00000000e+00,  0.00000000e+00,
        4.63366110e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10781314, -0.0934005 ,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.25097016e-06, 1.60983479e-05,-4.90500275e+00,-7.21783879e-03,
 -1.22449831e-03, 4.55032511e-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,
  9.49842379e-02,-7.00252285e-02, 1.30413311e-01, 9.99894151e-01,
  3.05058989e-04,-4.34204795e-04,-1.45397821e-02]

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, -1.61828733,  2.88932463, -0.58711374,-39.37512598,
 -28.55919961, -2.32180264]

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([ 6.39422476, -0.94972685,  6.3233005 , -0.94972685, 51.52580562,
        6.77852872,  6.3233005 ,  6.77852872,  7.41232452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000595414830913063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66155261e-14,  9.32310523e-14,  1.00000000e+00, -4.34601455e-27,
        1.00000000e+00, -9.32310523e-14, -1.00000000e+00,  0.00000000e+00,
        4.66155261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10781021, -0.0934043 ,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.00362488e-05, 4.29016906e-05,-4.90503322e+00,-7.21239866e-03,
 -1.22481080e-03, 6.49511784e-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,
  9.49642465e-02,-6.99927521e-02, 1.30406841e-01, 9.99892095e-01,
  8.39822188e-05,-6.14362299e-04,-1.46769543e-02]

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, -1.59949671,  2.84351872, -0.73055612,-39.00134955,
 -27.76934205, -2.6125651 ]

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([ 6.34036097, -0.4627407 ,  6.32345224, -0.4627407 , 65.37461453,
        4.32003763,  6.32345224,  4.32003763,  6.65649481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005889643827930863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71260681e-14, -1.17815170e-13,  1.00000000e+00,  5.55216574e-27,
        1.00000000e+00,  1.17815170e-13, -1.00000000e+00,  0.00000000e+00,
        4.71260681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10780866, -0.09340876,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.31984518e-05, 8.12183827e-05,-4.90512320e+00,-7.20204283e-03,
 -1.22188648e-03, 1.12892756e-05]


--- 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,
  9.49513978e-02,-6.99663407e-02, 1.30404504e-01, 9.99890009e-01,
 -1.01366704e-04,-7.30060283e-04,-1.48130263e-02]

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,  1.78565245, -1.51626639,  1.03301994, 17.38930139,
  32.48850773,  0.53613725]

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([ 6.45887667, -3.57245155,  5.3809551 , -3.57245155, 29.19550597,
       15.09499803,  5.3809551 , 15.09499803, 16.48054533,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006031592634451605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60169930e-14,  1.84067972e-13,  1.00000000e+00, -8.47025459e-27,
        1.00000000e+00, -1.84067972e-13, -1.00000000e+00,  0.00000000e+00,
        4.60169930e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251964, -0.05786453,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.22173926e-05, 1.30970026e-04,-4.90526998e+00,-7.18678960e-03,
 -1.21588997e-03, 1.87846825e-05]


--- 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,
  9.49455405e-02,-6.99457932e-02, 1.30405213e-01, 9.99887919e-01,
 -2.50944829e-04,-7.84756662e-04,-1.49489642e-02]

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,
  1.74785930e+00,-1.46596553e+00, 7.61783514e-01, 1.74316714e+01,
  3.07623765e+01, 5.70028228e-02]

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([ 6.54011348,  2.81806503, -5.9018297 ,  2.81806503, 28.55788771,
       10.51326837, -5.9018297 , 10.51326837, 11.56009464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006128998986781181
  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([ 0.0825274 , -0.05786192,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.12861524e-05, 8.97567674e-05,-4.90515854e+00,-7.17740162e-03,
 -1.20630550e-03, 1.54986271e-05]


--- 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,
  9.49465434e-02,-6.99309398e-02, 1.30408027e-01, 9.99885835e-01,
 -3.64795555e-04,-7.81266680e-04,-1.50855173e-02]

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,  1.7150545 , -1.42350738,  0.52585763, 17.42654432,
  29.35704435, -0.31420544]

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([ 6.57569847,  2.66948375, -6.00946477,  2.66948375, 36.20444269,
       13.16148011, -6.00946477, 13.16148011, 12.42220204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006171721533920344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.9944355e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.9944355e-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([ 0.08253282, -0.05785926,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.62866310e-05, 5.33867086e-05,-4.90508276e+00,-7.17004057e-03,
 -1.20059141e-03, 1.26855136e-05]


--- 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,
  9.49542942e-02,-6.99216379e-02, 1.30412127e-01, 9.99883761e-01,
 -4.43013449e-04,-7.21875133e-04,-1.52232644e-02]

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,  1.68699639, -1.38789698,  0.32186306, 17.39226481,
  28.21658234, -0.60056927]

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([ 6.5742631 ,  2.45487085, -6.09873302,  2.45487085, 46.36990928,
       16.01860112, -6.09873302, 16.01860112, 13.02209362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006169997459623822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34954232e-13, -8.99694880e-14,  1.00000000e+00,  1.21417632e-26,
        1.00000000e+00,  8.99694880e-14, -1.00000000e+00,  0.00000000e+00,
        1.34954232e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253638, -0.05785654,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.73523015e-05, 2.09131384e-05,-4.90503860e+00,-7.16475896e-03,
 -1.19852467e-03, 1.02782828e-05]


--- 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,
  9.49686986e-02,-6.99177690e-02, 1.30416813e-01, 9.99881684e-01,
 -4.85719059e-04,-6.08428322e-04,-1.53626502e-02]

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 ,  1.66336343, -1.35823668,  0.14633617, 17.34203795,
  27.29515899, -0.82016799]

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([ 6.5431344 ,  2.17036885, -6.17269041,  2.17036885, 59.65370712,
       18.67411532, -6.17269041, 18.67411532, 13.10910733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006132624307521872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35776664e-13,  1.81035552e-13,  1.00000000e+00, -2.45804032e-26,
        1.00000000e+00, -1.81035552e-13, -1.00000000e+00,  0.00000000e+00,
        1.35776664e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253847, -0.05785376,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.45882439e-05,-8.35459063e-06,-4.90502304e+00,-7.16158994e-03,
 -1.19992787e-03, 8.22233684e-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,
  9.49896781e-02,-6.99192350e-02, 1.30421482e-01, 9.99879586e-01,
 -4.93040993e-04,-4.42409212e-04,-1.55040143e-02]

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,
  1.64380155e+00,-1.33373233e+00,-4.07335089e-03, 1.72853127e+01,
  2.65553075e+01,-9.87162998e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006067119594742043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28737667e-14, -9.14950668e-14,  1.00000000e+00,  2.09283681e-27,
        1.00000000e+00,  9.14950668e-14, -1.00000000e+00,  0.00000000e+00,
        2.28737667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253939, -0.05785094,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.80715331e-05,-3.49206417e-05,-4.90503384e+00,-7.16055352e-03,
 -1.20466053e-03, 6.47434416e-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,
  9.50108934e-02,-6.99311333e-02, 1.30424931e-01, 9.99877522e-01,
 -4.20887044e-04,-2.66874500e-04,-1.56426734e-02]

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,  0.05894911, -2.60808458, -0.30514314, 39.65999872,
   5.37266667,  1.33737255]

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([  6.43653838,   5.15937219,   3.84836393,   5.15937219,
        14.7115885 , -11.09408161,   3.84836393, -11.09408161,
        21.31000077,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006004829412397383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.24441769e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.24441769e-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([ 0.09415363, -0.04652876,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.14834081e-06,-5.91510596e-05,-4.90506936e+00,-7.16166093e-03,
 -1.21261202e-03, 5.00081199e-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,
  9.50323731e-02,-6.99533452e-02, 1.30426635e-01, 9.99875460e-01,
 -2.70836203e-04,-8.29952281e-05,-1.57792189e-02]

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,
  6.60711730e-02,-2.57838517e+00,-4.36310820e-01, 3.88786929e+01,
  4.78058217e+00, 1.04803862e+00]

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([  6.37573579,  -3.92269848,  -5.02617583,  -3.92269848,
        37.11988632, -23.99439186,  -5.02617583, -23.99439186,
        25.10225224,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005932006545650709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35790458e-14,  9.35790458e-14,  1.00000000e+00, -8.75703782e-27,
        1.00000000e+00, -9.35790458e-14, -1.00000000e+00,  0.00000000e+00,
        9.35790458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0941574 , -0.04652769,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.72704577e-05,-5.63723707e-05,-4.90509637e+00,-7.16617789e-03,
 -1.21835158e-03, 6.14095040e-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,
  9.50515983e-02,-6.99857923e-02, 1.30426314e-01, 9.99873410e-01,
 -4.19315747e-05, 8.85537934e-05,-1.59108273e-02]

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,-0.56360025,-2.5588103 ,
 -0.5062741 ,39.51947206,-5.54289936, 2.4634149 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005844500557949106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49801453e-14,  9.49801453e-14,  1.00000000e+00, -9.02122800e-27,
        1.00000000e+00, -9.49801453e-14, -1.00000000e+00,  0.00000000e+00,
        9.49801453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09914304, -0.04645761,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.12757428e-05,-4.40835047e-05,-4.90516076e+00,-7.17545023e-03,
 -1.22496658e-03, 7.60190370e-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,
  9.50686161e-02,-7.00283961e-02, 1.30423543e-01, 9.99871318e-01,
  2.64409020e-04, 2.47316265e-04,-1.60379638e-02]

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, -0.55184582, -2.53916123, -0.61232572, 38.81460681,
  -5.77652225,  2.23845655]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005751789714557309
  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([ 0.09914609, -0.04645628,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.29044957e-04,-1.31268847e-05,-4.90524375e+00,-7.18885974e-03,
 -1.23132921e-03, 8.61005950e-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,
  9.50786704e-02,-7.00580829e-02, 1.30422595e-01, 9.99869146e-01,
  4.82509163e-04, 3.37732234e-04,-1.61661243e-02]

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,
 -1.74088271e+00, 3.22924259e+00, 4.55765906e-01,-4.35663441e+01,
 -3.48765789e+01,-5.14395899e-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([ 6.38964552,  0.64610737, -6.35689509,  0.64610737, 53.39587482,
        4.7776581 , -6.35689509,  4.7776581 ,  6.87524109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005948664252152236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33170017e-14, -6.99877513e-14,  1.00000000e+00,  6.53104711e-27,
        1.00000000e+00,  6.99877513e-14, -1.00000000e+00,  0.00000000e+00,
        9.33170017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10772834, -0.09345199,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.62506984e-04, 2.58459311e-05,-4.90536331e+00,-7.20707473e-03,
 -1.23740410e-03, 9.40645569e-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,
  9.50819155e-02,-7.00752450e-02, 1.30422331e-01, 9.99866944e-01,
  6.14453032e-04, 3.63773681e-04,-1.62967851e-02]

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, -1.70231124,  3.13116684,  0.17083389,-42.55172784,
 -32.88005433, -1.24930094]

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([ 6.50270365, -0.71107815,  6.46370811, -0.71107815, 25.00734135,
        2.03571129,  6.46370811,  2.03571129,  6.72665402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006084124890345238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56196678e-14, -6.84295017e-14,  1.00000000e+00,  3.12173113e-27,
        1.00000000e+00,  6.84295017e-14, -1.00000000e+00,  0.00000000e+00,
        4.56196678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1077178 , -0.09344967,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.04940003e-04, 1.47865080e-05,-4.90516963e+00,-7.21851894e-03,
 -1.24822007e-03, 1.30103592e-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,
  9.50784867e-02,-7.00802177e-02, 1.30421755e-01, 9.99864727e-01,
  6.62061140e-04, 3.28678361e-04,-1.64310802e-02]

qacc:
[ -5.50642572,  3.19290328,-14.66560617, 30.60112027, -3.17036093,
  -0.79386864,  4.21786602,-10.08439532, -1.68419368,  0.91309093,
  -3.04760481,  3.02420506, -2.12917743,  6.41855697,  4.61586909,
 -24.23616803, -1.66847015,  3.04737163, -0.07784496,-41.66343912,
 -31.2526312 , -1.81357741]

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([ 6.56209396, -0.48164609,  6.5443941 , -0.48164609, 31.46044726,
        1.83243769,  6.5443941 ,  1.83243769,  6.6969554 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00061553834400771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50915461e-14, -9.01830922e-14,  1.00000000e+00,  4.06649506e-27,
        1.00000000e+00,  9.01830922e-14, -1.00000000e+00,  0.00000000e+00,
        4.50915461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10771024, -0.09344929,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.84679862e-05, 1.61031916e-05,-4.90505623e+00,-7.22481116e-03,
 -1.25485384e-03,-2.91777046e-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,
  9.50685010e-02,-7.00732850e-02, 1.30420005e-01, 9.99862486e-01,
  6.26904593e-04, 2.35077654e-04,-1.65698760e-02]

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, -1.63919788,  2.97634723, -0.29377955,-40.89532771,
 -29.93017848, -2.2444761 ]

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([ 6.57776244, -0.18153673,  6.57525688, -0.18153673, 39.72692517,
        0.91521757,  6.57525688,  0.91521757,  6.60303074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006174200777434441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49541189e-14, -1.57339416e-13,  1.00000000e+00,  7.07305484e-27,
        1.00000000e+00,  1.57339416e-13, -1.00000000e+00,  0.00000000e+00,
        4.49541189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10770505, -0.0934505 ,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.05790267e-05, 2.99132997e-05,-4.90501516e+00,-7.22598583e-03,
 -1.25769854e-03,-3.65636732e-06]


--- 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,
  9.50520586e-02,-7.00546857e-02, 1.30416331e-01, 9.99860180e-01,
  5.10323112e-04, 8.51017761e-05,-1.67138296e-02]

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, -1.61421482,  2.91661838, -0.48063207,-40.239178  ,
 -28.85991964, -2.57097897]

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([ 6.55815985,  0.19200923,  6.55534843,  0.19200923, 49.89934544,
       -1.26948364,  6.55534843, -1.26948364,  6.59534362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006150659990371288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.51261745e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.51261745e-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([ 0.10770175, -0.093453  ,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.05936091e-05, 5.61210635e-05,-4.90504035e+00,-7.22208651e-03,
 -1.25705136e-03,-1.22600375e-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,
  9.50292434e-02,-7.00246193e-02, 1.30410090e-01, 9.99857746e-01,
  3.13444363e-04,-1.19533922e-04,-1.68634342e-02]

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,
 -1.59318501e+00, 2.86680620e+00,-6.41975458e-01,-3.96859611e+01,
 -2.79985637e+01,-2.81563857e+00]

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([ 6.51040249,  0.63813171,  6.47905306,  0.63813171, 61.74483027,
       -5.44012208,  6.47905306, -5.44012208,  7.04620832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006093357001720617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55505489e-14, -2.27752745e-14,  1.00000000e+00,  1.03742625e-27,
        1.00000000e+00,  2.27752745e-14, -1.00000000e+00,  0.00000000e+00,
        4.55505489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10769995, -0.09345653,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.64425960e-05, 9.45101276e-05,-4.90512719e+00,-7.21315900e-03,
 -1.25313657e-03, 4.13712876e-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,
  9.50001251e-02,-6.99832502e-02, 1.30400724e-01, 9.99855093e-01,
  3.72031788e-05,-3.77458314e-04,-1.70190542e-02]

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, -1.5757541 ,  2.82565696, -0.78116103,-39.22658464,
 -27.31067591, -2.99600248]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000600958110799063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.15463853e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.15463853e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10769932, -0.09346086,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.80139732e-05, 1.44798867e-04,-4.90527225e+00,-7.19924719e-03,
 -1.24612287e-03, 1.22560403e-05]


--- 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,
  9.49782899e-02,-6.99481998e-02, 1.30396649e-01, 9.99852364e-01,
 -2.03812103e-04,-5.67312203e-04,-1.71722579e-02]

qacc:
[ 5.37732771e+00, 3.14486243e-02, 1.62562908e+00,-7.38321999e+00,
  1.76102803e+00,-1.96243668e+00, 7.83318731e+00,-1.20557276e+01,
  8.88724476e-01,-1.65072805e-01, 8.94558500e-01,-1.74665555e+00,
 -1.50967345e+00, 2.92526749e+00,-1.72347969e-01,-7.56107269e+00,
  1.82074458e+00,-1.57964573e+00, 1.32260230e+00, 1.70316099e+01,
  3.43301072e+01, 1.19937322e+00]

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([ 6.46869833, -3.55122835,  5.40673981, -3.55122835, 28.99204845,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006043362135421115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18547490e-14, -9.18547490e-14,  1.00000000e+00,  8.43729492e-27,
        1.00000000e+00,  9.18547490e-14, -1.00000000e+00,  0.00000000e+00,
        9.18547490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258016, -0.05780272,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.61017695e-05, 2.06672196e-04,-4.90547301e+00,-7.18039056e-03,
 -1.23613631e-03, 2.30005352e-05]


--- 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,
  9.49635626e-02,-6.99192259e-02, 1.30396616e-01, 9.99849599e-01,
 -4.09385465e-04,-6.93256978e-04,-1.73242914e-02]

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, 1.77699111,-1.5191469 ,
  1.01063282,17.16994088,32.25402002, 0.5811605 ]

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([ 6.59134565,  3.12994515, -5.80080001,  3.12994515, 22.40810848,
        8.53427115, -5.80080001,  8.53427115, 11.19619335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006190520814504663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79342427e-13, -1.79342427e-13,  1.00000000e+00,  3.21637060e-26,
        1.00000000e+00,  1.79342427e-13, -1.00000000e+00,  0.00000000e+00,
        1.79342427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259025, -0.05779971,  0.06198087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.85385367e-05, 1.54935949e-04,-4.90531273e+00,-7.16809680e-03,
 -1.22149263e-03, 1.89164905e-05]


--- 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,
  9.49557898e-02,-6.98961236e-02, 1.30399536e-01, 9.99846825e-01,
 -5.79443029e-04,-7.58687773e-04,-1.74761239e-02]

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, 1.73861835,-1.46789951,
  0.73833837,17.23111605,30.56003893, 0.10053033]

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([ 6.6592887 ,  3.03549516, -5.92721647,  3.03549516, 28.08727795,
       10.97387923, -5.92721647, 10.97387923, 12.27932257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006272267852466817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.85025202e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.85025202e-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([ 0.08259751, -0.05779673,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.68521203e-05, 1.09569417e-04,-4.90519304e+00,-7.15770495e-03,
 -1.21097775e-03, 1.53797871e-05]


--- 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,
  9.49548388e-02,-6.98787202e-02, 1.30404466e-01, 9.99844057e-01,
 -7.14003178e-04,-7.66367945e-04,-1.76285070e-02]

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, 1.7054489 ,-1.42474444,
  0.50233611,17.24115346,29.181229  ,-0.27198841]

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([ 6.68268474,  2.87608962, -6.03211272,  2.87608962, 35.77954829,
       13.87327975, -6.03211272, 13.87327975, 13.29741456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006300468389920238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19835763e-14, -2.64319164e-13,  1.00000000e+00, -5.81068051e-27,
        1.00000000e+00,  2.64319164e-13, -1.00000000e+00,  0.00000000e+00,
       -2.19835763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826025 , -0.05779373,  0.06198054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.11921725e-05, 6.92319151e-05,-4.90510864e+00,-7.14930111e-03,
 -1.20431601e-03, 1.23123970e-05]


--- 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,
  9.49605950e-02,-6.98668727e-02, 1.30410592e-01, 9.99841299e-01,
 -8.13129634e-04,-7.18548852e-04,-1.77820223e-02]

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, 1.67680786,-1.3889436 ,
  0.29898681,17.22446848,28.05803466,-0.55967334]

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([ 6.67014775,  2.65352761, -6.11961292,  2.65352761, 46.06659343,
       17.08270727, -6.11961292, 17.08270727, 14.07738673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006285353268774967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.79393893e-08,  8.79396416e-08,  1.00000000e+00, -7.73335838e-15,
        1.00000000e+00, -8.79396416e-08, -1.00000000e+00,  1.57772181e-30,
        8.79393893e-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([ 0.08260833, -0.05778816,  0.06198059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.16829036e-05, 3.29436789e-05,-4.90505559e+00,-7.14294214e-03,
 -1.20128723e-03, 9.64838606e-06]


--- 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,
  9.49664966e-02,-6.98657155e-02, 1.30416424e-01, 9.99838644e-01,
 -8.31690089e-04,-6.59963452e-04,-1.79320514e-02]

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,
  3.63503078e-02,-2.67259467e+00,-7.32930691e-02, 4.01821793e+01,
  6.09723243e+00, 1.71919538e+00]

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([ 6.65772333,  5.60184718,  3.59785883,  5.60184718, 12.74274173,
       -9.4743415 ,  3.59785883, -9.4743415 , 21.40922297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006270382040009514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.85291373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.85291373e-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([ 0.09426852, -0.04652619,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.84170787e-05,-1.21113431e-08,-4.90503093e+00,-7.13866513e-03,
 -1.20171487e-03, 7.33418599e-06]


--- 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,
  9.49725706e-02,-6.98750780e-02, 1.30421290e-01, 9.99836081e-01,
 -7.71472405e-04,-5.92154682e-04,-1.80793936e-02]

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,  0.04309995, -2.62990514, -0.24169962, 39.30094208,
   5.3161809 ,  1.32190839]

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([  6.6153988 ,  -3.08535239,  -5.85184602,  -3.08535239,
        38.62005803, -16.87427379,  -5.85184602, -16.87427379,
        15.51226328,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000621943781191639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92542910e-14,  8.92542910e-14,  1.00000000e+00, -7.96632846e-27,
        1.00000000e+00, -8.92542910e-14, -1.00000000e+00,  0.00000000e+00,
        8.92542910e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09427334, -0.04652547,  0.06198079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.46195911e-06,-1.11093859e-05,-4.90500510e+00,-7.13786006e-03,
 -1.19952100e-03, 7.40276217e-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,
  9.49788387e-02,-6.98948178e-02, 1.30424612e-01, 9.99833583e-01,
 -6.33941131e-04,-5.16334218e-04,-1.82246724e-02]

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 ,  0.04852139, -2.59434123, -0.38599713, 38.57867091,
   4.70330452,  1.01226531]

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([  6.55000062,  -3.34111867,  -5.63377618,  -3.34111867,
        45.54942359, -23.12866116,  -5.63377618, -23.12866116,
        20.26648477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006140865256676481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80792605e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80792605e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09427712, -0.04652353,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.39879255e-05,-1.17651405e-05,-4.90501950e+00,-7.14183361e-03,
 -1.19836576e-03, 7.90304575e-06]


--- 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,
  9.49853185e-02,-6.99248181e-02, 1.30425896e-01, 9.99831105e-01,
 -4.20283329e-04,-4.33451092e-04,-1.83683731e-02]

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,  0.05291064, -2.56512542, -0.50932304, 37.99298716,
   4.22393956,  0.77173789]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006041110168298613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18889901e-14,  9.18889901e-14,  1.00000000e+00, -8.44358650e-27,
        1.00000000e+00, -9.18889901e-14, -1.00000000e+00,  0.00000000e+00,
        9.18889901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09428008, -0.04652066,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.34028447e-05,-2.80625867e-06,-4.90507163e+00,-7.15051356e-03,
 -1.19807069e-03, 8.76395015e-06]


--- 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,
  9.49920242e-02,-6.99649846e-02, 1.30424723e-01, 9.99828591e-01,
 -1.31447259e-04,-3.44245974e-04,-1.85108714e-02]

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,
  5.65005600e-02,-2.54154373e+00,-6.14524253e-01, 3.75249775e+01,
  3.85065353e+00, 5.85744387e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005925594831875519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36803018e-14,  1.87360604e-13,  1.00000000e+00, -1.75519979e-26,
        1.00000000e+00, -1.87360604e-13, -1.00000000e+00,  0.00000000e+00,
        9.36803018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09428239, -0.04651708,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.12138577e-04, 1.52032523e-05,-4.90515963e+00,-7.16383894e-03,
 -1.19850222e-03, 9.93772874e-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,
  9.50053150e-02,-7.00105548e-02, 1.30423086e-01, 9.99825926e-01,
  1.91009190e-04,-2.07549155e-04,-1.86557700e-02]

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, 1.64627008,-1.35091748,
 -0.11586091,16.3673296 ,24.05308368,-1.20396886]

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([  6.29515263,  -4.50271083,  -4.39937971,  -4.50271083,
        20.19442328, -14.22573193,  -4.39937971, -14.22573193,
        20.85501366,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000583549769663641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75633392e-14, -9.51266783e-14,  1.00000000e+00,  4.52454247e-27,
        1.00000000e+00,  9.51266783e-14, -1.00000000e+00,  0.00000000e+00,
        4.75633392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259953, -0.05776687,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.50466459e-04, 4.19041249e-05,-4.90528221e+00,-7.18175931e-03,
 -1.19956063e-03, 1.13932026e-05]


--- 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,
  9.50117713e-02,-7.00432191e-02, 1.30422932e-01, 9.99823162e-01,
  4.27013543e-04,-1.40076522e-04,-1.88000773e-02]

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, -1.70864967,  3.22646962,  0.37082139,-42.57273935,
 -35.41243804,  0.31025898]

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([ 6.26487213,  3.73315406, -5.03112151,  3.73315406, 24.99122202,
       13.89518203, -5.03112151, 13.89518203, 16.57526816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005799219658742943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78608800e-14,  2.39304400e-14,  1.00000000e+00, -1.14533192e-27,
        1.00000000e+00, -2.39304400e-14, -1.00000000e+00,  0.00000000e+00,
        4.78608800e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10760712, -0.09351718,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.82801328e-04, 3.81509941e-05,-4.90537576e+00,-7.20300610e-03,
 -1.20579396e-03, 1.47518203e-05]


--- 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,
  9.50115268e-02,-7.00633632e-02, 1.30423182e-01, 9.99820340e-01,
  5.78266433e-04,-1.37663693e-04,-1.89455881e-02]

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, -1.67517741,  3.13004262,  0.10101343,-41.75674605,
 -33.3210783 , -0.58240302]

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([ 6.37350586, -1.1735852 ,  6.2645251 , -1.1735852 , 23.15105361,
        3.14307652,  6.2645251 ,  3.14307652,  6.96232434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000592933612601404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68105957e-14, -2.34052978e-14,  1.00000000e+00,  1.09561593e-27,
        1.00000000e+00,  2.34052978e-14, -1.00000000e+00,  0.00000000e+00,
        4.68105957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10759559, -0.09351599,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.20926137e-04, 2.99136300e-05,-4.90518578e+00,-7.21524547e-03,
 -1.21600923e-03, 7.16194546e-06]


--- 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,
  9.50046998e-02,-7.00713162e-02, 1.30422894e-01, 9.99817471e-01,
  6.46279586e-04,-1.96928034e-04,-1.90936868e-02]

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, -1.64561445,  3.04776724, -0.13469733,-41.02830148,
 -31.62230896, -1.2705269 ]

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([ 6.43120189, -0.97184937,  6.35734744, -0.97184937, 28.99283621,
        3.44900296,  6.35734744,  3.44900296,  6.95845187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005998436748377023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.25426966e-14, -9.25426966e-14,  1.00000000e+00,  8.56415070e-27,
        1.00000000e+00,  9.25426966e-14, -1.00000000e+00,  0.00000000e+00,
        9.25426966e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10758721, -0.09351642,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.11199610e-05, 3.27909057e-05,-4.90507403e+00,-7.22249188e-03,
 -1.22183075e-03, 3.47128955e-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,
  9.49913932e-02,-7.00673569e-02, 1.30421247e-01, 9.99814540e-01,
  6.32375999e-04,-3.15129774e-04,-1.92454359e-02]

qacc:
[ -1.75486836, -1.55096192,  6.51128714,-11.00034218,  4.38712536,
  -2.64839267, 10.84662422,-20.05150564, -3.61098461, -1.43209826,
   6.43819889,-12.02024211,  0.50133255, -7.49204127, -1.85855893,
  -3.02461062, -1.61992956,  2.97810079, -0.3395915 ,-40.38856711,
 -30.24655268, -1.79837817]

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([ 6.44724786, -0.70064728,  6.40906377, -0.70064728, 36.59860993,
        3.29618654,  6.40906377,  3.29618654,  6.80759131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006017659478495807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22470795e-14, -4.61235397e-14,  1.00000000e+00,  4.25476184e-27,
        1.00000000e+00,  4.61235397e-14, -1.00000000e+00,  0.00000000e+00,
        9.22470795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10758133, -0.0935182 ,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.05924129e-05, 4.72950897e-05,-4.90503311e+00,-7.22474128e-03,
 -1.22370068e-03, 3.27626101e-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,
  9.49716947e-02,-7.00517193e-02, 1.30417532e-01, 9.99811506e-01,
  5.37696411e-04,-4.90058357e-04,-1.94016461e-02]

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, -1.59795735,  2.91955841, -0.51709264,-39.83531428,
 -29.13687311, -2.20049767]

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([ 6.42963667, -0.35505384,  6.41982589, -0.35505384, 46.21343016,
        2.20027599,  6.41982589,  2.20027599,  6.55132478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005996561813658291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62858159e-14,  1.38857448e-13,  1.00000000e+00, -6.42713026e-27,
        1.00000000e+00, -1.38857448e-13, -1.00000000e+00,  0.00000000e+00,
        4.62858159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10757744, -0.09352108,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.73009136e-06, 7.36090200e-05,-4.90505740e+00,-7.22200867e-03,
 -1.22195273e-03, 6.26729215e-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,
  9.49456784e-02,-7.00245986e-02, 1.30411134e-01, 9.99808302e-01,
  3.63209237e-04,-7.19939660e-04,-1.95629304e-02]

qacc:
[ -8.66674602, -3.2937074 , 13.37931186,-22.25105638, -4.86784302,
  -0.39410029, -0.13820363,  5.52111653,  5.09708566,  1.72805482,
  -8.55533243, 19.22799295, -3.98146956, 15.75096609,  0.79283364,
 -11.55021806, -1.57945967,  2.87076447, -0.67054572,-39.36438368,
 -28.2467873 , -2.50384059]

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([ 6.38516471,  0.06803765,  6.38480221,  0.06803765, 57.86247563,
       -0.54855184,  6.38480221, -0.54855184,  6.39101018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005943298161480981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67006279e-14,  2.33503140e-14,  1.00000000e+00, -1.09047432e-27,
        1.00000000e+00, -2.33503140e-14, -1.00000000e+00,  0.00000000e+00,
        4.67006279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10757512, -0.09352483,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.03923063e-05, 1.11712538e-04,-4.90514261e+00,-7.21431859e-03,
 -1.21683811e-03, 1.22092318e-05]


--- 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,
  9.49270037e-02,-7.00005287e-02, 1.30409035e-01, 9.99805101e-01,
  2.00033087e-04,-8.85012320e-04,-1.97214543e-02]

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,  1.83540666, -0.76266912,  1.07460019,  5.0214981 ,
  32.50925167,  1.36408968]

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([ 6.39234374, -3.91604073,  5.05239384, -3.91604073, 24.15898619,
       13.77067936,  5.05239384, 13.77067936, 17.06580726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005951895607964041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.21582335e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.21582335e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08223788, -0.06354592,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.35509379e-05, 1.61461653e-04,-4.90528557e+00,-7.20169904e-03,
 -1.20854506e-03, 2.09257877e-05]


--- 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,
  9.49152092e-02,-6.99824511e-02, 1.30409955e-01, 9.99801904e-01,
  7.18786900e-05,-9.87667273e-04,-1.98789170e-02]

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,  1.72006325, -1.4981153 ,  0.75464032, 16.89244907,
  31.54821903,  0.50877019]

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([ 6.47356817,  6.46706407, -0.29011587,  6.46706407,  6.57005345,
        2.1507837 , -0.29011587,  2.1507837 , 54.41736411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006049198349774021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17661284e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.17661284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264303, -0.05773207,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.82728015e-05, 1.22091877e-04,-4.90518548e+00,-7.19413129e-03,
 -1.19724299e-03, 1.97392104e-05]


--- 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,
  9.49101719e-02,-6.99701887e-02, 1.30412962e-01, 9.99798722e-01,
 -2.10443905e-05,-1.03108570e-03,-2.00362834e-02]

qacc:
[ 1.23032172e+00,-1.14614063e+00, 3.73311467e+00,-2.55152786e+00,
  5.37207359e+00,-1.24715577e+00, 1.18243417e+01,-3.76263876e+01,
  1.88937676e+00, 2.20166389e-01,-3.24193688e+00, 1.12983801e+01,
 -1.18984775e+00, 1.01319064e+00,-5.03001872e+00, 9.75557513e+00,
  1.68927270e+00,-1.45375418e+00, 5.22013238e-01, 1.70234373e+01,
  2.99625853e+01, 2.87880800e-02]

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([ 6.51339757,  2.83429987, -5.86439189,  2.83429987, 30.29196936,
       11.49234298, -5.86439189, 11.49234298, 12.0677239 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000609694894282406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10474268e-14,  9.10474268e-14,  1.00000000e+00, -8.28963392e-27,
        1.00000000e+00, -9.10474268e-14, -1.00000000e+00,  0.00000000e+00,
        9.10474268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264969, -0.05772871,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.15732110e-05, 8.14928619e-05,-4.90509428e+00,-7.18851549e-03,
 -1.18822796e-03, 1.75652592e-05]


--- 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,
  9.49117853e-02,-6.99635928e-02, 1.30417252e-01, 9.99795553e-01,
 -7.86304440e-05,-1.01784424e-03,-2.01943033e-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, 1.66269157,-1.41666924,
  0.32064475,17.09699376,28.67826949,-0.34415573]

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([ 6.51617803,  2.658431  , -5.94922859,  2.658431  , 38.46297901,
       14.27552575, -5.94922859, 14.27552575, 12.89524039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006100283689134123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.09976553e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.09976553e-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([ 0.08265425, -0.05772545,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.10207207e-05, 4.56307570e-05,-4.90503642e+00,-7.18487454e-03,
 -1.18294558e-03, 1.57634622e-05]


--- 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,
  9.49199591e-02,-6.99625406e-02, 1.30422132e-01, 9.99792388e-01,
 -1.00841122e-04,-9.50022708e-04,-2.03535575e-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,  1.64010388, -1.38588278,  0.14721263, 17.13234032,
  27.64169753, -0.63285312]

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([ 6.48919796,  2.41962031, -6.02122311,  2.41962031, 49.26000211,
       17.18738945, -6.02122311, 17.18738945, 13.39592702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006067932649509583
  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([ 0.08265716, -0.05772225,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.66966509e-05, 1.36003850e-05,-4.90500841e+00,-7.18327064e-03,
 -1.18119648e-03, 1.42902418e-05]


--- 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,
  9.49346179e-02,-6.99669304e-02, 1.30427004e-01, 9.99789208e-01,
 -8.76786259e-05,-8.29291725e-04,-2.05144939e-02]

qacc:
[ 1.49688810e+00,-1.80549125e-01, 3.45402781e-01, 4.89697236e-01,
 -3.84566013e-01,-1.81823710e+00, 4.59577703e+00,-1.92863755e-01,
  1.02278542e+00, 1.84325796e-01,-3.13714371e+00, 1.03653970e+01,
 -8.50602271e-01,-7.64048279e-01,-3.60331807e+00, 4.68216526e+00,
  1.62123997e+00,-1.36053600e+00,-1.52090282e-03, 1.71436677e+01,
  2.68092954e+01,-8.55183322e-01]

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([ 6.43865221,  2.11330431, -6.08195587,  2.11330431, 63.29104122,
       19.754566  , -6.08195587, 19.754566  , 13.30279433,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006007361696120234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84810418e-13,  9.24052089e-14,  1.00000000e+00, -1.70774453e-26,
        1.00000000e+00, -9.24052089e-14, -1.00000000e+00,  0.00000000e+00,
        1.84810418e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265876, -0.05771911,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.66129041e-06,-1.52563129e-05,-4.90500766e+00,-7.18374578e-03,
 -1.18282254e-03, 1.31099522e-05]


--- 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,
  9.49556999e-02,-6.99766798e-02, 1.30431363e-01, 9.99785982e-01,
 -3.91661006e-05,-6.56983874e-04,-2.06774552e-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,  1.60580955, -1.33988338, -0.12859703, 17.14141071,
  26.14566213, -1.02516971]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005924920816416657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36909588e-14,  9.36909588e-14,  1.00000000e+00, -8.77799577e-27,
        1.00000000e+00, -9.36909588e-14, -1.00000000e+00,  0.00000000e+00,
        9.36909588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265933, -0.05771601,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.30466764e-05,-4.14170989e-05,-4.90503226e+00,-7.18632794e-03,
 -1.18769901e-03, 1.21945263e-05]


--- 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,
  9.49831560e-02,-6.99917223e-02, 1.30434774e-01, 9.99782672e-01,
  4.46665986e-05,-4.34151476e-04,-2.08427017e-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 ,  1.59352176, -1.32328291, -0.23680612, 17.13319584,
  25.62205009, -1.15380824]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005825981210552944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52820636e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52820636e-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([ 0.0826591 , -0.05771296,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.84107383e-05,-6.52258340e-05,-4.90508084e+00,-7.19103552e-03,
 -1.19572811e-03, 1.15227720e-05]


--- 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,
  9.50169485e-02,-7.00120056e-02, 1.30436871e-01, 9.99779230e-01,
  1.63793130e-04,-1.61613507e-04,-2.10104279e-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,
  1.58409695e+00,-1.31018463e+00,-3.28669337e-01, 1.71245470e+01,
  2.52151115e+01,-1.24971693e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005715059577243026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.71313605e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.71313605e-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([ 0.08265827, -0.05770996,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.74369358e-05,-8.69249815e-05,-4.90515242e+00,-7.19788040e-03,
 -1.20683398e-03, 1.10795618e-05]


--- 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,
  9.50442524e-02,-7.00197644e-02, 1.30438737e-01, 9.99775737e-01,
  2.03184397e-04, 4.51448572e-05,-2.11762456e-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, -1.62215786,  3.13111053, -0.05753811,-39.16764446,
 -33.72002724,  0.96531535]

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([ 6.14959091,  3.41692982, -5.11293057,  3.41692982, 21.60883563,
       10.3312872 , -5.11293057, 10.3312872 , 13.05390592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005660946216690249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.47089768e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.47089768e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1075042 , -0.09358665,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.00154022e-04,-1.06678568e-04,-4.90524632e+00,-7.20687013e-03,
 -1.22095854e-03, 1.08550392e-05]


--- 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,
  9.50651697e-02,-7.00153211e-02, 1.30439538e-01, 9.99772197e-01,
  1.63254548e-04, 1.89805782e-04,-2.13422567e-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, -1.59664561,  3.05053383, -0.2666004 ,-38.99415945,
 -31.88163757, -0.09260414]

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([ 6.19455431, -2.37438246,  5.72143435, -2.37438246, 22.74473419,
        6.86828763,  5.72143435,  6.86828763,  9.04487831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000571491489058773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45700729e-13, -7.28503647e-14,  1.00000000e+00,  1.06143513e-26,
        1.00000000e+00,  7.28503647e-14, -1.00000000e+00,  0.00000000e+00,
        1.45700729e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10749444, -0.09359047,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.61024491e-05,-8.45932195e-05,-4.90511458e+00,-7.20643028e-03,
 -1.23995095e-03, 1.85538973e-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,
  9.50797911e-02,-6.99989453e-02, 1.30438545e-01, 9.99768592e-01,
  4.44346887e-05, 2.75347781e-04,-2.15101034e-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, -1.57397602,  2.98310907, -0.44812858,-38.80497455,
 -30.39471823, -0.92099113]

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([ 6.20370087, -2.17116933,  5.81136199, -2.17116933, 28.60465966,
        8.36916971,  5.81136199,  8.36916971,  9.33048675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005725886735452879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84738468e-14, -9.69476935e-14,  1.00000000e+00,  4.69942764e-27,
        1.00000000e+00,  9.69476935e-14, -1.00000000e+00,  0.00000000e+00,
        4.84738468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10748739, -0.09359478,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.84845379e-05,-5.49900662e-05,-4.90505230e+00,-7.20143973e-03,
 -1.25488016e-03,-3.82019697e-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,
  9.50881960e-02,-6.99708612e-02, 1.30435131e-01, 9.99764880e-01,
 -1.52860732e-04, 3.04174645e-04,-2.16810673e-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, -1.55412274,  2.92710844, -0.60530046,-38.61829563,
 -29.19506856, -1.56895441]

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([ 6.18391847, -1.89800335,  5.88544229, -1.89800335, 36.44703489,
        9.75958874,  5.88544229,  9.75958874,  9.33129996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005702153946549604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.7351197e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.7351197e-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([ 0.1074825 , -0.09359951,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.57820096e-05,-1.65276763e-05,-4.90505453e+00,-7.19179987e-03,
 -1.26613356e-03,-6.42970805e-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,
  9.50938060e-02,-6.99541265e-02, 1.30433388e-01, 9.99761355e-01,
 -2.66762654e-04, 3.28969015e-04,-2.18415756e-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 ,-0.69869937,-2.83738564,
  0.41741872,41.72908471,-1.11257078, 5.24101002]

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([ 6.20985811, -1.08433121,  6.1144553 , -1.08433121, 27.64987794,
        3.80215104,  6.1144553 ,  3.80215104,  6.88412766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005733271580595639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68228183e-14,  1.93645637e-13,  1.00000000e+00, -1.87493163e-26,
        1.00000000e+00, -1.93645637e-13, -1.00000000e+00,  0.00000000e+00,
        9.68228183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09942433, -0.04650413,  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:
[ 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,
  1.07418993e-04, 3.16319665e-05,-4.90511747e+00,-7.17744757e-03,
 -1.27400551e-03,-6.17294279e-06]


--- 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,
  9.50967367e-02,-6.99484771e-02, 1.30432383e-01, 9.99758013e-01,
 -2.99279294e-04, 3.47291462e-04,-2.19932888e-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, -0.66986699, -2.77130238,  0.18497848, 40.75218635,
  -2.34760133,  4.41101796]

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([ 6.27114742, -1.28975097, -6.13708664, -1.28975097, 28.69334362,
       -4.71217875, -6.13708664, -4.71217875,  7.26144419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005806738851820148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55978091e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.55978091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09943322, -0.04650681,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.68593433e-05, 1.43942838e-05,-4.90503772e+00,-7.17032175e-03,
 -1.26815304e-03,-6.06084259e-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,
  9.50970827e-02,-6.99536877e-02, 1.30431311e-01, 9.99754840e-01,
 -2.52110180e-04, 3.57245952e-04,-2.21375180e-02]

qacc:
[ 3.17012271e+00, 3.63967532e+00,-1.40897619e+01, 2.40281023e+01,
  3.10948162e+00,-1.30066982e+00, 8.22484816e+00,-2.13194434e+01,
  4.51195463e+00,-1.40582761e+00, 6.31951865e+00,-1.10479785e+01,
 -1.54881171e+00, 3.09326500e+00,-1.10192996e+01, 3.08549160e+01,
 -6.46155298e-01,-2.71502176e+00,-1.70002593e-02, 3.99239810e+01,
 -3.30783922e+00, 3.75552553e+00]

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([ 6.2936109 , -1.49633831, -6.11314239, -1.49633831, 35.38032037,
       -7.11967019, -6.11314239, -7.11967019,  8.03632105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005833650863179274
  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([ 0.09944048, -0.0465078 ,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.35192854e-05, 8.59332443e-06,-4.90500179e+00,-7.16814460e-03,
 -1.26302014e-03,-5.81543289e-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,
  9.50949217e-02,-6.99695686e-02, 1.30429472e-01, 9.99751803e-01,
 -1.26680199e-04, 3.57358796e-04,-2.22752985e-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, -0.62674111, -2.66755049, -0.19176308, 39.22864083,
  -4.0542029 ,  3.23779074]

qfrc_actuator:
[-1.19834568e-05,-3.82241041e-04,-4.46398608e-04,-3.11359661e-05,
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 -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([  6.28452922,  -1.75390436,  -6.03482617,  -1.75390436,
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         9.43765947,   0.        ,   0.        ,   0.        ,
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         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000582277143546972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.86003762e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.86003762e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09944645, -0.04650742,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.37551544e-05, 1.29896137e-05,-4.90500699e+00,-7.17084370e-03,
 -1.25826596e-03,-5.54441595e-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,
  9.50903170e-02,-6.99959612e-02, 1.30426263e-01, 9.99748859e-01,
  7.58291967e-05, 3.46483986e-04,-2.24074483e-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, -0.61093193, -2.62792972, -0.34249715, 38.65151895,
  -4.63435368,  2.82880038]

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([  6.25018971,  -2.07168265,  -5.89686378,  -2.07168265,
        53.30912275, -16.53271616,  -5.89686378, -16.53271616,
        12.05845365,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005781624497415289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.60130691e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.60130691e-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([ 0.09945141, -0.04650595,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.58249019e-05, 2.67130496e-05,-4.90505128e+00,-7.17835232e-03,
 -1.25363593e-03,-5.31872545e-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,
  9.50791755e-02,-7.00099208e-02, 1.30423207e-01, 9.99745845e-01,
  1.91790514e-04, 2.71381410e-04,-2.25418587e-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,
 -1.63421394e+00, 3.10823415e+00, 3.82721685e-02,-4.25431876e+01,
 -3.30755520e+01,-1.14338207e+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([ 6.31406515,  0.75963294, -6.26820361,  0.75963294, 42.50150868,
        4.38549474, -6.26820361,  4.38549474,  6.8455358 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000585815104979015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73794127e-14,  4.73794127e-14,  1.00000000e+00, -2.24480875e-27,
        1.00000000e+00, -4.73794127e-14, -1.00000000e+00,  0.00000000e+00,
        4.73794127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10743794, -0.09360818,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.33284825e-05, 4.91690997e-05,-4.90513310e+00,-7.19061135e-03,
 -1.24893986e-03,-5.18430518e-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,
  9.50615998e-02,-7.00117453e-02, 1.30419404e-01, 9.99742749e-01,
  2.23028900e-04, 1.35327524e-04,-2.26796981e-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, -1.6085251 ,  3.0337841 , -0.18680003,-41.6632482 ,
 -31.42313365, -1.72062572]

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([ 6.36887423,  0.19899327,  6.36576473,  0.19899327, 30.69281061,
       -0.7603642 ,  6.36576473, -0.7603642 ,  6.39264315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005923789587466005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68544252e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.68544252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10742981, -0.09360727,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.39474045e-05, 5.49450249e-05,-4.90506905e+00,-7.19595818e-03,
 -1.24952533e-03,-5.61885225e-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,
  9.50376794e-02,-7.00016880e-02, 1.30414069e-01, 9.99739531e-01,
  1.71108274e-04,-5.90305943e-05,-2.28218555e-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, -1.58620747,  2.97045448, -0.38308505,-40.90734371,
 -30.08810151, -2.15897226]

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([ 6.38335161,  0.46386932,  6.36647493,  0.46386932, 38.04931007,
       -2.30722132,  6.36647493, -2.30722132,  6.55145864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005941126864117546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67176956e-14, -9.34353911e-14,  1.00000000e+00,  4.36508616e-27,
        1.00000000e+00,  9.34353911e-14, -1.00000000e+00,  0.00000000e+00,
        4.67176956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10742409, -0.09360797,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.28728774e-05, 7.34515455e-05,-4.90507543e+00,-7.19617050e-03,
 -1.24628904e-03,-2.60879815e-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,
  9.50074902e-02,-6.99799625e-02, 1.30406518e-01, 9.99736129e-01,
  3.73538087e-05,-3.09563795e-04,-2.29690013e-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, -1.5671696 ,  2.91703874, -0.55370925,-40.26538391,
 -29.01445843, -2.48840928]

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([ 6.365207  ,  0.78609404,  6.31647974,  0.78609404, 46.88024702,
       -5.04214894,  6.31647974, -5.04214894,  6.99270893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005919397977360574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40667560e-13, -9.37783731e-14,  1.00000000e+00,  1.31915749e-26,
        1.00000000e+00,  9.37783731e-14, -1.00000000e+00,  0.00000000e+00,
        1.40667560e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1074203 , -0.09360997,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17999987e-05, 1.04503357e-04,-4.90514655e+00,-7.19129369e-03,
 -1.23953187e-03, 3.54059511e-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,
  9.49843925e-02,-6.99644780e-02, 1.30403190e-01, 9.99732697e-01,
 -6.13111300e-05,-4.96181706e-04,-2.31146146e-02]

qacc:
[ 4.18267925e+00,-2.52042608e+00, 1.25120715e+01,-2.75760407e+01,
  7.83964244e-01,-2.82640399e-02, 9.47059238e-01,-4.39289527e+00,
  9.78340625e-01,-2.61923893e-01, 3.84712922e-01,-1.10313753e-01,
 -5.05638357e-01,-1.86544491e+00,-9.44879026e+00, 2.47510276e+01,
  1.77285802e+00,-1.56023952e+00, 1.05553734e+00, 1.68063367e+01,
  3.23522230e+01, 7.59056959e-01]

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([ 6.40543621, -3.3606575 ,  5.45303532, -3.3606575 , 27.95099906,
       13.27834006,  5.45303532, 13.27834006, 14.58875989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005967575488630833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.86042561e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.86042561e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272264, -0.05765065,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.14829929e-05, 1.47811484e-04,-4.90527817e+00,-7.18137483e-03,
 -1.22947920e-03, 1.26006817e-05]


--- 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,
  9.49682283e-02,-6.99550253e-02, 1.30402990e-01, 9.99729254e-01,
 -1.24573302e-04,-6.22280748e-04,-2.32597660e-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,  1.73337301, -1.50795238,  0.78213033, 16.99733094,
  30.66049021,  0.22386086]

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([ 6.49264628,  3.3549837 , -5.55864553,  3.3549837 , 26.00822269,
       11.778848  , -5.55864553, 11.778848  , 13.6019039 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000607206654361328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14205252e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.14205252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273031, -0.05764742,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.81514677e-05, 1.09439127e-04,-4.90515832e+00,-7.17760472e-03,
 -1.21550110e-03, 1.14185002e-05]


--- 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,
  9.49588599e-02,-6.99514288e-02, 1.30404967e-01, 9.99725809e-01,
 -1.52258623e-04,-6.90634221e-04,-2.34052894e-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, 1.69897103,-1.46405889,
  0.54414625,17.1119197 ,29.27874499,-0.19347342]

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([ 6.53367681,  3.21827162, -5.68609359,  3.21827162, 33.02642074,
       14.99462585, -5.68609359, 14.99462585, 15.02048379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006121275397417136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06855968e-14,  9.06855968e-14,  1.00000000e+00, -8.22387746e-27,
        1.00000000e+00, -9.06855968e-14, -1.00000000e+00,  0.00000000e+00,
        9.06855968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827357 , -0.05764428,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08301413e-05, 7.62956941e-05,-4.90507495e+00,-7.17577789e-03,
 -1.20534058e-03, 1.05815096e-05]


--- 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,
  9.49561692e-02,-6.99535423e-02, 1.30408297e-01, 9.99722359e-01,
 -1.44285282e-04,-7.03500389e-04,-2.35518332e-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, 1.66939349,-1.42747035,
  0.33824315,17.17474148,28.15342201,-0.51817171]

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([ 6.53716714,  3.01116399, -5.80236552,  3.01116399, 42.56507393,
       18.69684617, -5.80236552, 18.69684617, 16.23998054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006125463429116768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06235942e-14,  9.06235942e-14,  1.00000000e+00, -8.21263583e-27,
        1.00000000e+00, -9.06235942e-14, -1.00000000e+00,  0.00000000e+00,
        9.06235942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273925, -0.05764119,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.62093339e-06, 4.73577166e-05,-4.90502396e+00,-7.17597010e-03,
 -1.19878594e-03, 1.00566972e-05]


--- 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,
  9.49600556e-02,-6.99612445e-02, 1.30412271e-01, 9.99718893e-01,
 -1.00629388e-04,-6.62711219e-04,-2.36998996e-02]

qacc:
[  1.4723787 , -0.79791737,  3.71163566, -8.17109812, -0.20750553,
  -1.57304324,  8.91927734,-21.80244279, -3.59795524,  2.42190781,
  -8.22875975,  9.6728972 , -1.05336711,  0.54830439, -7.45015307,
  17.30649609,  1.64430336, -1.3972116 ,  0.16097348, 17.20394516,
  27.24051964, -0.77000859]

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([ 6.51048818,  2.72852348, -5.91114337,  2.72852348, 55.37525918,
       22.55547986, -5.91114337, 22.55547986, 16.9218676 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006093459756422448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10995616e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.10995616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274136, -0.05763811,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.39281708e-06, 2.18801557e-05,-4.90500224e+00,-7.17823288e-03,
 -1.19566772e-03, 9.81490179e-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,
  9.49704354e-02,-6.99744365e-02, 1.30416280e-01, 9.99715389e-01,
 -2.12998851e-05,-5.69745029e-04,-2.38498763e-02]

qacc:
[-2.38634533e+00,-8.59394345e-01, 5.42510626e+00,-1.45794373e+01,
 -9.14834610e-02, 2.49800219e+00,-7.48806075e+00, 6.38534968e+00,
 -2.02636906e+00, 4.20300537e-01,-3.84471605e+00, 1.10461367e+01,
 -6.41348868e-01,-1.16507573e+00,-1.18794699e+01, 3.27437884e+01,
  1.62333290e+00,-1.37242460e+00, 8.98926452e-03, 1.72128610e+01,
  2.65039905e+01,-9.64483584e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006032817251523659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84030608e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.84030608e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274232, -0.05763506,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.41483105e-05,-6.79228101e-07,-4.90500747e+00,-7.18260095e-03,
 -1.19585087e-03, 9.83194064e-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,
  9.49872396e-02,-6.99930379e-02, 1.30419807e-01, 9.99711814e-01,
  9.36796669e-05,-4.25785874e-04,-2.40020601e-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,  1.60611256, -1.35236349, -0.12084561, 17.21123403,
  25.91435429, -1.11374258]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00059499616529686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32966538e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.32966538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274239, -0.05763202,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.66047829e-05,-2.07124939e-05,-4.90503793e+00,-7.18909744e-03,
 -1.19922832e-03, 1.00888581e-05]


--- 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,
  9.50104130e-02,-7.00169848e-02, 1.30422407e-01, 9.99708128e-01,
  2.44284200e-04,-2.31772049e-04,-2.41566768e-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, 1.59228764,-1.33638528,
 -0.23140226,17.20613749,25.44752257,-1.22729965]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005850329681607036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.48855095e-14,  9.48855095e-14,  1.00000000e+00, -9.00325990e-27,
        1.00000000e+00, -9.48855095e-14, -1.00000000e+00,  0.00000000e+00,
        9.48855095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274177, -0.057629  ,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.27444576e-05,-3.84984564e-05,-4.90509235e+00,-7.19773758e-03,
 -1.20571579e-03, 1.05717306e-05]


--- 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,
  9.50271492e-02,-7.00284061e-02, 1.30424777e-01, 9.99704406e-01,
  3.14154829e-04,-1.02405908e-04,-2.43103325e-02]

qacc:
[-7.55452658e+00, 3.26123142e-02,-1.70370188e+00, 6.21477217e+00,
  1.41811032e+00, 5.78791769e-01,-2.82281463e+00, 6.48392023e+00,
 -1.26046872e+00,-1.09354811e+00, 3.58565532e+00,-3.75164713e+00,
 -2.29147597e+00, 6.14249417e+00,-2.23938167e-01,-6.82458443e+00,
 -1.60929606e+00, 3.13142173e+00,-5.77206819e-02,-3.95742183e+01,
 -3.32894275e+01, 4.97150947e-01]

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([ 6.28689461,  3.46829015, -5.24366354,  3.46829015, 22.8304673 ,
       10.94233255, -5.24366354, 10.94233255, 13.52442692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005825605161707825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76441071e-14,  7.14661606e-14,  1.00000000e+00, -3.40494141e-27,
        1.00000000e+00, -7.14661606e-14, -1.00000000e+00,  0.00000000e+00,
        4.76441071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10735562, -0.09365246,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.02573022e-04,-5.42288261e-05,-4.90516982e+00,-7.20853136e-03,
 -1.21524757e-03, 1.12712712e-05]


--- 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,
  9.50375501e-02,-7.00276236e-02, 1.30426066e-01, 9.99700643e-01,
  3.03934622e-04,-3.42106568e-05,-2.44648980e-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, -1.58381829,  3.0509474 , -0.27023255,-39.29007932,
 -31.55006623, -0.44159689]

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([ 6.32273209, -2.21737865,  5.92116314, -2.21737865, 24.58642222,
        6.83945293,  5.92116314,  6.83945293,  8.88399523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005868531316206849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41886824e-13, -2.36478040e-14,  1.00000000e+00,  3.35531179e-27,
        1.00000000e+00,  2.36478040e-14, -1.00000000e+00,  0.00000000e+00,
        1.41886824e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10734679, -0.09365602,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.56986113e-05,-3.93289302e-05,-4.90505439e+00,-7.21035105e-03,
 -1.22907656e-03, 4.46002298e-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,
  9.50417052e-02,-7.00149068e-02, 1.30425538e-01, 9.99696814e-01,
  2.14236497e-04,-2.43760873e-05,-2.46218298e-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, -1.56144383,  2.98356847, -0.45436478,-39.01319901,
 -30.1441761 , -1.17329698]

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([ 6.32277435, -1.98622884,  6.00269693, -1.98622884, 31.11690987,
        8.20411684,  6.00269693,  8.20411684,  9.03742972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005868581924627497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.45904001e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.45904001e-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([ 0.10734052, -0.09366022,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.00106450e-06,-1.55438845e-05,-4.90500700e+00,-7.20750259e-03,
 -1.23890748e-03, 9.76430915e-07]


--- 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,
  9.50396920e-02,-6.99904797e-02, 1.30422555e-01, 9.99692869e-01,
  4.56196081e-05,-7.06374059e-05,-2.47822581e-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, -1.54208283,  2.92756635, -0.61348259,-38.75685789,
 -29.0113787 , -1.74225387]

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([ 6.29404668, -1.68066333,  6.06550858, -1.68066333, 39.80383944,
        9.28507136,  6.06550858,  9.28507136,  8.86680357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005834172880126859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75741398e-14,  1.18935349e-13,  1.00000000e+00, -5.65824694e-27,
        1.00000000e+00, -1.18935349e-13, -1.00000000e+00,  0.00000000e+00,
        4.75741398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10733626, -0.09366494,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.26313331e-05, 1.80819478e-05,-4.90502289e+00,-7.19992113e-03,
 -1.24510429e-03, 5.59469902e-07]


--- 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,
  9.50315765e-02,-6.99545270e-02, 1.30416570e-01, 9.99688739e-01,
 -2.01425223e-04,-1.71177017e-04,-2.49470576e-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, -1.52557511,  2.88141133, -0.75078538,-38.52950937,
 -28.10272879, -2.18317042]

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([ 6.24255198, -1.29224422,  6.10733658, -1.29224422, 51.1190217 ,
        9.49535989,  6.10733658,  9.49535989,  8.2516641 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005772470154210285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91704992e-14, -1.92330665e-13,  1.00000000e+00,  1.90735281e-26,
        1.00000000e+00,  1.92330665e-13, -1.00000000e+00,  0.00000000e+00,
        9.91704992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10733359, -0.09367007,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.77651536e-05, 6.21034205e-05,-4.90509850e+00,-7.18756892e-03,
 -1.24794243e-03, 3.00837432e-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,
  9.50219933e-02,-6.99302879e-02, 1.30413392e-01, 9.99684774e-01,
 -3.64557325e-04,-2.64267398e-04,-2.51027840e-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, -0.36695018, -2.92840398,  0.70201095, 41.85118195,
   4.76924462,  4.53076714]

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([ 6.35477269, -1.33843815,  6.21222338, -1.33843815, 31.17312828,
        5.34717313,  6.21222338,  5.34717313,  7.50683373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005906902577666253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.41776533e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.41776533e-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([ 0.09694571, -0.04651867,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.08580928e-04, 1.16805643e-04,-4.90523114e+00,-7.17042495e-03,
 -1.24762948e-03, 8.17102721e-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,
  9.50123460e-02,-6.99174991e-02, 1.30412019e-01, 9.99680946e-01,
 -4.46462465e-04,-3.42626302e-04,-2.52525217e-02]

qacc:
[ 2.25149737e+00, 2.84218092e-01,-2.13565804e+00, 5.96343756e+00,
 -5.59783851e-01,-1.64716987e+00, 3.31061728e+00, 2.25842895e+00,
  1.41621804e+00,-8.70699367e-02,-1.50881016e+00, 8.21487410e+00,
  4.71554025e-01,-6.24345822e+00, 4.06018526e+00,-2.15620528e+01,
 -1.59854339e-02,-2.86256708e+00, 4.51121136e-01, 4.04165942e+01,
  8.38185458e+00, 2.98705566e+00]

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([ 6.44891096, -1.72542862, -6.21380307, -1.72542862, 25.62932815,
       -5.32595584, -6.21380307, -5.32595584,  7.92780504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006019652016633903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22165452e-14,  1.84433090e-13,  1.00000000e+00, -1.70077824e-26,
        1.00000000e+00, -1.84433090e-13, -1.00000000e+00,  0.00000000e+00,
        9.22165452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09461194, -0.04650984,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.72345091e-05, 8.28134494e-05,-4.90511870e+00,-7.16112969e-03,
 -1.23453725e-03, 6.73462329e-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,
  9.50026723e-02,-6.99158748e-02, 1.30411491e-01, 9.99677244e-01,
 -4.48737360e-04,-4.08753462e-04,-2.53976192e-02]

qacc:
[ 1.41631877e+00, 2.37918384e-01,-2.73168999e+00, 1.02270081e+01,
 -2.67965833e-01, 2.02661624e+00,-7.59620647e+00, 1.13416183e+01,
  4.17290153e+00,-3.23932474e-01,-1.73958731e+00, 1.18732956e+01,
 -1.15834879e+00, 7.47803189e-01,-8.71607295e-01,-4.88498538e+00,
 -6.61756032e-03,-2.79112238e+00, 2.11392538e-01, 3.96488022e+01,
  7.11833925e+00, 2.31009153e+00]

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([ 6.49391799, -0.17220089, -6.49163444, -0.17220089, 33.12302424,
       -0.70637925, -6.49163444, -0.70637925,  6.51265582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006073591145413226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13975767e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.13975767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09461978, -0.04651024,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.22493906e-05, 5.81142206e-05,-4.90504766e+00,-7.15693224e-03,
 -1.22351661e-03, 5.51801397e-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,
  9.49930008e-02,-6.99251736e-02, 1.30410979e-01, 9.99673646e-01,
 -3.72752642e-04,-4.64627088e-04,-2.55391381e-02]

qacc:
[ 9.87469555e+00,-6.23090546e-01, 2.74806969e+00,-4.29015880e+00,
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  2.73766255e+00,-1.28702035e+00, 3.89277903e+00,-3.09021166e+00,
 -2.79087066e+00, 8.07778810e+00,-6.49865192e+00, 1.40711406e+01,
  5.38706139e-04,-2.73078893e+00, 3.90384546e-03, 3.89877238e+01,
  6.11813386e+00, 1.77627069e+00]

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([ 6.50027908, -0.41455546, -6.48704647, -0.41455546, 41.68583556,
       -2.24853709, -6.48704647, -2.24853709,  6.64397211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006081217743859335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12829528e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.12829528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09462595, -0.04650929,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.14412156e-07, 4.56411970e-05,-4.90502078e+00,-7.15747147e-03,
 -1.21394856e-03, 4.94740328e-06]


--- 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,
  9.49867929e-02,-6.99427605e-02, 1.30411236e-01, 9.99670030e-01,
 -2.40941750e-04,-4.88432492e-04,-2.56814048e-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, 0.86592524,-2.07203078,
  0.19207307,27.49430326,16.74188997,-0.38094852]

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([  6.47988619,  -3.40880428,  -5.51080561,  -3.40880428,
        28.0268387 , -13.32824078,  -5.51080561, -13.32824078,
        14.72430044,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006056770755974469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16513989e-14, -1.23760981e-06,  1.00000000e+00, -1.13428670e-19,
        1.00000000e+00,  1.23760981e-06, -1.00000000e+00,  0.00000000e+00,
       -9.16513989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08844754, -0.05229675,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.19795179e-05, 4.41585190e-05,-4.90503491e+00,-7.16270711e-03,
 -1.20554903e-03, 4.89244313e-06]


--- 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,
  9.49872150e-02,-6.99660276e-02, 1.30412207e-01, 9.99666367e-01,
 -7.48349106e-05,-4.60741177e-04,-2.58251091e-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,  1.65747741, -1.42002439,  0.17865991, 16.48070486,
  26.18040947, -0.72133242]

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([  6.46008024,  -3.27919319,  -5.56592568,  -3.27919319,
        29.45887369, -13.5498552 ,  -5.56592568, -13.5498552 ,
        14.44304579,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006033034813054255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20119856e-14, -9.20119856e-14,  1.00000000e+00, -8.46620549e-27,
        1.00000000e+00,  9.20119856e-14, -1.00000000e+00,  0.00000000e+00,
       -9.20119856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279372, -0.05758664,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.77693082e-05, 3.94345957e-05,-4.90506084e+00,-7.17188398e-03,
 -1.20065417e-03, 5.87991520e-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,
  9.49941697e-02,-6.99948686e-02, 1.30413271e-01, 9.99662624e-01,
  1.25921875e-04,-3.82566609e-04,-2.59706611e-02]

qacc:
[ 1.01938443e+00, 1.83496935e+00,-8.39045495e+00, 1.65676121e+01,
  7.68316931e-01,-1.63709388e+00, 6.20817748e+00,-1.10413358e+01,
  1.07143641e+01,-1.68898821e+00, 5.51828352e+00,-7.16810187e+00,
 -5.90256896e-01,-1.09362462e+00,-1.45986630e+01, 4.23201808e+01,
  1.63315559e+00,-1.39349181e+00, 2.32292441e-02, 1.66668970e+01,
  2.56806755e+01,-9.30701913e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005975956407643229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85781647e-13,  1.85781647e-13,  1.00000000e+00, -3.45148204e-26,
        1.00000000e+00, -1.85781647e-13, -1.00000000e+00,  0.00000000e+00,
        1.85781647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279344, -0.05758261,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -7.99416356e-05, 2.55425669e-05,-4.90508867e+00,-7.18366618e-03,
 -1.20031372e-03, 7.82952566e-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,
  9.50075771e-02,-7.00291989e-02, 1.30413896e-01, 9.99658759e-01,
  3.61600901e-04,-2.54727770e-04,-2.61183780e-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,  1.61317414, -1.37233893, -0.10958189, 16.80991671,
  25.27707475, -1.0934409 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896660574705587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41399806e-14,  9.41399806e-14,  1.00000000e+00, -8.86233595e-27,
        1.00000000e+00, -9.41399806e-14, -1.00000000e+00,  0.00000000e+00,
        9.41399806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279254, -0.05757881,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05827902e-04, 1.39713623e-05,-4.90514047e+00,-7.19752059e-03,
 -1.20302581e-03, 9.95124859e-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,
  9.50144547e-02,-7.00507761e-02, 1.30415135e-01, 9.99654844e-01,
  5.13206906e-04,-1.92779848e-04,-2.62658182e-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, -1.63244335,  3.18829088,  0.15324149,-41.1616412 ,
 -34.03209789,  0.16021529]

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([ 6.3994473 ,  3.60882621, -5.2848178 ,  3.60882621, 24.45818891,
       12.33171367, -5.2848178 , 12.33171367, 14.82036419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005960402900880707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31332196e-14, -4.65666098e-14,  1.00000000e+00,  4.33689830e-27,
        1.00000000e+00,  4.65666098e-14, -1.00000000e+00,  0.00000000e+00,
        9.31332196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10726083, -0.09369164,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.35451710e-04, 4.53622819e-06,-4.90521548e+00,-7.21347803e-03,
 -1.20873681e-03, 1.22541535e-05]


--- 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,
  9.50149199e-02,-7.00599562e-02, 1.30416009e-01, 9.99650883e-01,
  5.82007148e-04,-1.93041654e-04,-2.64146925e-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, -1.60310459,  3.09929278, -0.09101951,-40.57172324,
 -32.18198196, -0.69338346]

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([ 6.46218522, -1.624423  ,  6.25468526, -1.624423  , 25.01513709,
        4.81844256,  6.25468526,  4.81844256,  7.71359734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006035557170124134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.14966915e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.14966915e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10725135, -0.09369295,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.96541622e-05, 7.43973776e-06,-4.90507985e+00,-7.22053115e-03,
 -1.21847390e-03, 6.37386941e-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,
  9.50090753e-02,-7.00570397e-02, 1.30415671e-01, 9.99646859e-01,
  5.69137096e-04,-2.52531593e-04,-2.65663229e-02]

qacc:
[ -1.90360936, -0.3100541 ,  3.10415376, -8.81018373,  5.64570396,
  -0.27191677, -1.68322247,  8.85049975, -2.74262848, -0.55085721,
   1.80385098, -1.78080321, -1.12676862,  1.03886284,  3.62427865,
 -18.78479654, -1.57743852,  3.02411549, -0.30311731,-40.03889174,
 -30.68318315, -1.35334088]

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([ 6.48189038, -1.38957564,  6.33119123, -1.38957564, 31.64075516,
        5.52189066,  6.33119123,  5.52189066,  7.69383999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006059173007402496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58075311e-14, -1.14518828e-13,  1.00000000e+00, -5.24582477e-27,
        1.00000000e+00,  1.14518828e-13, -1.00000000e+00,  0.00000000e+00,
       -4.58075311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1072446 , -0.09369544,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.39647022e-05, 2.08819703e-05,-4.90501597e+00,-7.22271487e-03,
 -1.22408096e-03, 4.05861420e-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,
  9.49970094e-02,-7.00422790e-02, 1.30413387e-01, 9.99642730e-01,
  4.75593815e-04,-3.68842328e-04,-2.67217273e-02]

qacc:
[ -1.19894394, -2.66690753, 13.72018805,-30.1801094 ,  3.52050013,
   1.55044494, -7.69777157, 17.33036447, -4.69160455, -1.0469833 ,
   5.0921269 ,-10.78424062, -0.44663754, -1.87974786,  1.00821815,
 -10.60692903, -1.55532541,  2.96106923, -0.48663383,-39.5680577 ,
 -29.47304849, -1.86132797]

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([ 6.46680557, -1.07949309,  6.37607002, -1.07949309, 40.31442895,
        5.73053237,  6.37607002,  5.73053237,  7.43700666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006041093877485332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59446189e-14, -1.60806166e-13,  1.00000000e+00,  7.38817803e-27,
        1.00000000e+00,  1.60806166e-13, -1.00000000e+00,  0.00000000e+00,
        4.59446189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10724001, -0.09369891,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.95932964e-06, 4.54161214e-05,-4.90501805e+00,-7.22000865e-03,
 -1.22594143e-03, 4.98570107e-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,
  9.49787973e-02,-7.00158839e-02, 1.30408522e-01, 9.99638431e-01,
  3.02235806e-04,-5.40038693e-04,-2.68816840e-02]

qacc:
[ -0.78572369, -1.61328719,  8.31536159,-18.17652698, -3.90374101,
  -3.02608238, 13.51477902,-26.32179053, -2.77710275, -0.46113159,
   1.16811381,  0.94716423, -1.05240705,  0.85364415, -9.24345036,
  23.02235081, -1.53656134,  2.90860526, -0.64506803,-39.16058639,
 -28.50051922, -2.24991239]

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([ 6.42392603, -0.68780028,  6.38699902, -0.68780028, 51.34918005,
        4.83789053,  6.38699902,  4.83789053,  6.94490661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005989721378143326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63386756e-14,  6.95080135e-14,  1.00000000e+00, -3.22090929e-27,
        1.00000000e+00, -6.95080135e-14, -1.00000000e+00,  0.00000000e+00,
        4.63386756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10723712, -0.09370316,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.58606697e-05, 8.12823701e-05,-4.90508167e+00,-7.21241119e-03,
 -1.22434470e-03, 8.90808196e-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,
  9.49674475e-02,-6.99956831e-02, 1.30407108e-01, 9.99634134e-01,
  1.63895403e-04,-6.46988684e-04,-2.70398172e-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,  1.71557166, -1.54859247,  0.86261096, 16.63943919,
  32.58251579,  0.89234644]

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([ 6.38297195, -3.40154812,  5.40109261, -3.40154812, 25.62157154,
       12.11625628,  5.40109261, 12.11625628, 14.01365554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005940672199101632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34425421e-14,  1.86885084e-13,  1.00000000e+00, -1.74630174e-26,
        1.00000000e+00, -1.86885084e-13, -1.00000000e+00,  0.00000000e+00,
        9.34425421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08282282, -0.05755477,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.30398079e-05, 1.28520852e-04,-4.90520354e+00,-7.19993160e-03,
 -1.21950825e-03, 1.56389395e-05]


--- 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,
  9.49628361e-02,-6.99814823e-02, 1.30408163e-01, 9.99629844e-01,
  6.08983667e-05,-6.93230202e-04,-2.71972523e-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, 1.6846047 ,-1.49998578,
  0.61743956,16.84467082,30.82102947, 0.33261259]

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([ 6.44546869,  2.85542639, -5.77846059,  2.85542639, 26.82352336,
       10.06981603, -5.77846059, 10.06981603, 11.42146844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006015527920666952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84559533e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84559533e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283092, -0.0575513 ,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.64025635e-05, 8.56950077e-05,-4.90510611e+00,-7.19384890e-03,
 -1.21012106e-03, 1.32622960e-05]


--- 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,
  9.49648552e-02,-6.99731184e-02, 1.30410836e-01, 9.99625553e-01,
 -6.56553307e-06,-6.81629285e-04,-2.73548649e-02]

qacc:
[  2.70862769,  0.83629577, -1.90996315,  0.44556613,  1.22321177,
   0.55178855, -1.21946012, -0.38265197,  0.68725255, -2.50895454,
  11.36193732,-23.87319404, -1.49088039,  2.53735042, -4.70608208,
   8.98051644,  1.65762714, -1.45922627,  0.40435551, 16.97335273,
  29.39370868, -0.10283115]

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([ 6.46732775,  2.71292093, -5.87080814,  2.71292093, 33.78655278,
       12.62430922, -5.87080814, 12.62430922, 12.30106509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006041719638141263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18797206e-14, -9.18797206e-14,  1.00000000e+00,  8.44188306e-27,
        1.00000000e+00,  9.18797206e-14, -1.00000000e+00,  0.00000000e+00,
        9.18797206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283665, -0.05754797,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.59681093e-05, 4.81906970e-05,-4.90504365e+00,-7.18968354e-03,
 -1.20459568e-03, 1.12667986e-05]


--- 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,
  9.49734124e-02,-6.99704556e-02, 1.30414390e-01, 9.99621247e-01,
 -3.83980332e-05,-6.14500670e-04,-2.75133344e-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,  1.63451513, -1.42527363,  0.22018306, 17.04926047,
  28.24079669, -0.44045186]

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([ 6.45629668,  2.5105936 , -5.94816666,  2.5105936 , 43.0330827 ,
       15.43827704, -5.94816666, 15.43827704, 12.97246237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006028501232864664
  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([ 0.0828405 , -0.05754472,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.17951982e-05, 1.49511974e-05,-4.90501224e+00,-7.18751495e-03,
 -1.20270930e-03, 9.60935927e-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,
  9.49884298e-02,-6.99733816e-02, 1.30418190e-01, 9.99616902e-01,
 -3.45595140e-05,-4.93705825e-04,-2.76731855e-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,  1.61506127, -1.39720728,  0.06173005, 17.09006077,
  27.31368069, -0.70101968]

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([ 6.41899478,  2.24406544, -6.01395579,  2.24406544, 55.15901809,
       18.18699798, -6.01395579, 18.18699798, 13.20534556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005983814771068074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27688329e-14,  9.27688329e-14,  1.00000000e+00, -8.60605635e-27,
        1.00000000e+00, -9.27688329e-14, -1.00000000e+00,  0.00000000e+00,
        9.27688329e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284287, -0.05754154,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.39285403e-05,-1.47869126e-05,-4.90500896e+00,-7.18739730e-03,
 -1.20428489e-03, 8.25363820e-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,
  9.50098432e-02,-6.99818045e-02, 1.30421694e-01, 9.99612485e-01,
  4.95519036e-06,-3.20732559e-04,-2.78348212e-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,  1.59901672, -1.37422374, -0.07406054, 17.10884567,
  26.57286656, -0.90083225]

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: -0.0005914438373217923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87714024e-13,  2.81571035e-13,  1.00000000e+00, -5.28548320e-26,
        1.00000000e+00, -2.81571035e-13, -1.00000000e+00,  0.00000000e+00,
        1.87714024e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284406, -0.05753841,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.60331362e-06,-4.15754359e-05,-4.90503171e+00,-7.18936722e-03,
 -1.20918251e-03, 7.17034060e-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,
  9.50376012e-02,-6.99956499e-02, 1.30424439e-01, 9.99607956e-01,
  8.01345020e-05,-9.67596222e-05,-2.79985482e-02]

qacc:
[ -2.78088367,  0.98007551, -3.09753662,  2.39353347,  5.21676657,
   0.63519853, -5.90809405, 19.23784756,  4.0199235 ,  2.19845555,
 -12.67476205, 30.85033969, -1.41230024,  1.96526826,  6.47865239,
 -28.45455866,  1.5861177 , -1.35562842, -0.19003033, 17.11527522,
  25.98629019, -1.0526749 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826125115458436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52797102e-14,  1.90559420e-13,  1.00000000e+00, -1.81564463e-26,
        1.00000000e+00, -1.90559420e-13, -1.00000000e+00,  0.00000000e+00,
        9.52797102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284434, -0.05753533,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.27898955e-05,-6.58107932e-05,-4.90507893e+00,-7.19344913e-03,
 -1.21729231e-03, 6.33687287e-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,
  9.50591284e-02,-6.99970822e-02, 1.30426373e-01, 9.99603394e-01,
  7.58259799e-05, 6.36060120e-05,-2.81610522e-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, -1.55767402,  3.10329942, -0.20238241,-38.83781946,
 -32.90390825,  0.61722311]

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([ 6.23493806,  3.39036546, -5.23257821,  3.39036546, 20.88818117,
        9.49433478, -5.23257821,  9.49433478, 12.38664061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005763343304102386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63176204e-14,  1.44476431e-13,  1.00000000e+00, -1.39156260e-26,
        1.00000000e+00, -1.44476431e-13, -1.00000000e+00,  0.00000000e+00,
        9.63176204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10718274, -0.09374957,  0.06198219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.16403066e-05,-8.77730967e-05,-4.90514953e+00,-7.19965911e-03,
 -1.22852875e-03, 5.73672147e-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,
  9.50745113e-02,-6.99863948e-02, 1.30426732e-01, 9.99598774e-01,
 -7.59825789e-06, 1.63749250e-04,-2.83242752e-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 , -1.53609634,  3.02989408, -0.3939127 ,-38.69418118,
 -31.21327229, -0.36043827]

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([ 6.25164626, -2.24799633,  5.83348896, -2.24799633, 24.8213376 ,
        7.1560259 ,  5.83348896,  7.1560259 ,  9.00929612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005783370160117457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43976132e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43976132e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1071742 , -0.09375414,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.57610436e-06,-6.23371775e-05,-4.90506153e+00,-7.19668582e-03,
 -1.24436124e-03,-9.61378383e-07]


--- 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,
  9.50838261e-02,-6.99638322e-02, 1.30424852e-01, 9.99594049e-01,
 -1.69760145e-04, 2.06399595e-04,-2.84897341e-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, -1.51701645,  2.96881523, -0.55969396,-38.53862415,
 -29.84998964, -1.12563816]

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([ 6.23727643, -2.01536527,  5.90270447, -2.01536527, 31.34351155,
        8.5720426 ,  5.90270447,  8.5720426 ,  9.16403602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005766146435663699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92792593e-14, -1.92541594e-13,  1.00000000e+00,  1.91153868e-26,
        1.00000000e+00,  1.92541594e-13, -1.00000000e+00,  0.00000000e+00,
        9.92792593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10716812, -0.09375911,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.42152594e-05,-2.87434232e-05,-4.90503986e+00,-7.18914045e-03,
 -1.25630626e-03,-4.48024795e-06]


--- 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,
  9.50902472e-02,-6.99524251e-02, 1.30424183e-01, 9.99589573e-01,
 -2.48799387e-04, 2.43116339e-04,-2.86455125e-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, -0.72341629, -2.78887418,  0.30262648, 41.62799622,
  -1.78237217,  4.84992564]

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([ 6.29649041, -1.04415864,  6.20930948, -1.04415864, 27.75971061,
        3.60925912,  6.20930948,  3.60925912,  6.9034241 ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005837100193906847
  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([ 0.09975186, -0.04656487,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.66732921e-05, 1.41105813e-05,-4.90508025e+00,-7.17693639e-03,
 -1.26471020e-03,-5.04653904e-06]


--- 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,
  9.50938842e-02,-6.99519340e-02, 1.30423849e-01, 9.99585325e-01,
 -2.46754524e-04, 2.71769080e-04,-2.87931085e-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,
 -6.96053667e-01,-2.72899920e+00, 8.39534208e-02, 4.06399460e+01,
 -2.87004465e+00, 4.10161667e+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([ 6.33586873, -1.82198847, -6.06824444, -1.82198847, 30.29374434,
       -7.19334457, -6.06824444, -7.19334457,  8.49566816,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0005884264017066432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43383082e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.43383082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09975989, -0.0465672 ,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.81830142e-05, 3.07723861e-06,-4.90501834e+00,-7.17185371e-03,
 -1.26004049e-03,-4.76152411e-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,
  9.50948269e-02,-6.99621555e-02, 1.30423094e-01, 9.99581277e-01,
 -1.65333901e-04, 2.90704304e-04,-2.89337044e-02]

qacc:
[ -2.94461495, -1.47191759,  5.29801168, -8.07432334, -0.84241628,
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  37.96971754, -0.67353732, -2.67816705, -0.10555841, 39.81039476,
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qfrc_actuator:
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 -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,
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Contact:
<MjContact
  H: array([  6.33978778,  -2.04569289,  -6.00067077,  -2.04569289,
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         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000588895739204523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42631225e-14, -9.42631225e-14,  1.00000000e+00,  8.88553627e-27,
        1.00000000e+00,  9.42631225e-14, -1.00000000e+00,  0.00000000e+00,
        9.42631225e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09976649, -0.04656786,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.31024006e-06, 2.85165095e-06,-4.90499951e+00,-7.17172643e-03,
 -1.25593704e-03,-4.40892960e-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,
  9.50931493e-02,-6.99829189e-02, 1.30421261e-01, 9.99577385e-01,
 -5.95636718e-06, 2.98638580e-04,-2.90682331e-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, -0.65509465, -2.63545503, -0.26918362, 39.12041449,
  -4.37090392,  3.04503395]

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([  6.31514082,  -2.31891866,  -5.87397819,  -2.31891866,
        45.23554007, -15.364926  ,  -5.87397819, -15.364926  ,
        12.38087898,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000585943938796768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47379904e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.47379904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09977197, -0.04656719,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.88871329e-05, 1.23534786e-05,-4.90502118e+00,-7.17647530e-03,
 -1.25209653e-03,-4.07589608e-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,
  9.50851724e-02,-6.99912972e-02, 1.30419095e-01, 9.99573413e-01,
  6.78518103e-05, 2.43873786e-04,-2.92049354e-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, -1.57483532,  3.09626731, -0.08334063,-41.85499701,
 -32.57994285, -1.10052994]

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([ 6.31247301,  0.628297  , -6.28112716,  0.628297  , 39.93228942,
        3.36296802, -6.28112716,  3.36296802,  6.64886848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005856244101426489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07352428e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.07352428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1071312 , -0.09376933,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.93501248e-05, 3.08334044e-05,-4.90508140e+00,-7.18602975e-03,
 -1.24829297e-03,-3.81880854e-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,
  9.50709866e-02,-6.99875688e-02, 1.30415763e-01, 9.99569333e-01,
  5.76894778e-05, 1.29521787e-04,-2.93449986e-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, -1.55221333,  3.02667507, -0.29174915,-41.09681115,
 -31.0071704 , -1.68948619]

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([ 6.34794642,  0.06779361,  6.34758441,  0.06779361, 32.1686678 ,
       -0.27577104,  6.34758441, -0.27577104,  6.35089172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005898727846946894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70534941e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.70534941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1071237 , -0.09376946,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.98066243e-05, 4.17538680e-05,-4.90503309e+00,-7.18876558e-03,
 -1.25017670e-03,-4.35881260e-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,
  9.50506705e-02,-6.99719693e-02, 1.30410537e-01, 9.99565094e-01,
 -3.50748896e-05,-4.19084906e-05,-2.94893298e-02]

qacc:
[ -0.97684484,  0.4413344 , -1.45300885,  0.47977806, -2.12198718,
  -0.67973   ,  0.49955915,  5.88084787, -1.26922469,  0.27408795,
  -1.52124534,  2.24331996, -1.11964391,  0.80811503, -1.00884148,
  -4.58358168, -1.53257807,  2.96777466, -0.47317356,-40.44546883,
 -29.73894033, -2.13907432]

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([ 6.34720869,  0.34559016,  6.33779343,  0.34559016, 39.90558155,
       -1.82988663,  6.33779343, -1.82988663,  6.4469896 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005897844378797423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70605425e-14,  7.05908138e-14,  1.00000000e+00, -3.32204199e-27,
        1.00000000e+00, -7.05908138e-14, -1.00000000e+00,  0.00000000e+00,
        4.70605425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10711847, -0.09377098,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.07150123e-06, 6.49228532e-05,-4.90505302e+00,-7.18644162e-03,
 -1.24831523e-03,-1.56562123e-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,
  9.50274523e-02,-6.99675689e-02, 1.30406373e-01, 9.99561057e-01,
 -4.71278795e-05,-2.20625535e-04,-2.96250209e-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, -0.72550143, -2.79978403,  0.2652896 , 40.44576374,
  -2.45188389,  4.31930037]

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([ 6.34580532, -0.84676882,  6.28905619, -0.84676882, 29.22670004,
        3.0807211 ,  6.28905619,  3.0807211 ,  6.76059865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005896163775126334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.41479127e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.41479127e-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([ 0.09979958, -0.04656704,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.80670680e-05, 1.00257551e-04,-4.90513609e+00,-7.17908856e-03,
 -1.24299602e-03, 4.28453357e-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,
  9.50110819e-02,-6.99692601e-02, 1.30404964e-01, 9.99557002e-01,
 -2.42305323e-05,-3.40949656e-04,-2.97604251e-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, 1.7119297 ,-1.52289231,
  0.68893381,16.60258343,29.70133985, 0.14059809]

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([  6.40469898,  -4.19886003,  -4.83629439,  -4.19886003,
        23.71246089, -15.02656036,  -4.83629439, -15.02656036,
        19.45072523,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005966692533056206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30350457e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.30350457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289533, -0.05748665,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.01123589e-06, 9.00584857e-05,-4.90511841e+00,-7.17894515e-03,
 -1.22658240e-03, 3.42115203e-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,
  9.50014264e-02,-6.99768751e-02, 1.30405417e-01, 9.99552922e-01,
  3.39753859e-05,-4.05242855e-04,-2.98963420e-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,  1.6787204 , -1.48095483,  0.46538965, 16.81262503,
  28.52845195, -0.26188629]

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([ 6.43709961,  3.82011347, -5.18102157,  3.82011347, 32.45900654,
       19.1866866 , -5.18102157, 19.1866866 , 20.58398531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006005501745762892
  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([ 0.08289961, -0.05748308,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.15327507e-06, 6.50755432e-05,-4.90505942e+00,-7.18226084e-03,
 -1.21712918e-03, 4.09848264e-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,
  9.49983720e-02,-6.99902752e-02, 1.30406958e-01, 9.99548801e-01,
  1.27727731e-04,-4.15432687e-04,-3.00333940e-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 , 1.6502719 ,-1.4462622 ,
  0.27202857,16.95629197,27.57091534,-0.5760614 ]

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([ 6.43493981,  3.59646661, -5.33609203,  3.59646661, 42.48708595,
       24.29874506, -5.33609203, 24.29874506, 22.81202341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006002914426684047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24736674e-14,  1.84947335e-13,  1.00000000e+00, -1.71027583e-26,
        1.00000000e+00, -1.84947335e-13, -1.00000000e+00,  0.00000000e+00,
        9.24736674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08290233, -0.05747965,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.31115175e-05, 4.38757584e-05,-4.90503087e+00,-7.18758125e-03,
 -1.21114337e-03, 4.99539661e-06]


--- 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,
  9.50018224e-02,-7.00093466e-02, 1.30408921e-01, 9.99544617e-01,
  2.57183650e-04,-3.73085182e-04,-3.01720648e-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,
  1.62621509e+00,-1.41782478e+00, 1.05540469e-01, 1.70544628e+01,
  2.67928498e+01,-8.20754412e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005967106341857042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30285938e-14,  1.86057188e-13,  1.00000000e+00, -1.73086385e-26,
        1.00000000e+00, -1.86057188e-13, -1.00000000e+00,  0.00000000e+00,
        9.30285938e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08290382, -0.05747633,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.08272812e-05, 2.58475692e-05,-4.90503029e+00,-7.19496228e-03,
 -1.20848603e-03, 6.10722779e-06]


--- 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,
  9.49990408e-02,-7.00161017e-02, 1.30409999e-01, 9.99540372e-01,
  3.05021061e-04,-3.92327045e-04,-3.03116739e-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,
 -1.55799957e+00, 3.07906235e+00,-2.21394821e-01,-3.98616985e+01,
 -3.20120922e+01,-4.46707007e-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([ 6.37501763,  3.49785086, -5.32971755,  3.49785086, 21.74821647,
       10.08930702, -5.32971755, 10.08930702, 12.99654885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005931146525977593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.40388922e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.40388922e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10707886, -0.09378614,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.22751835e-05, 1.05521270e-05,-4.90505578e+00,-7.20444311e-03,
 -1.20904611e-03, 7.42887646e-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,
  9.49901110e-02,-7.00108190e-02, 1.30409423e-01, 9.99536033e-01,
  2.72114275e-04,-4.70235697e-04,-3.04536376e-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, -1.53706164,  3.00946961, -0.41348968,-39.46484573,
 -30.54403594, -1.15343051]

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([ 6.38077828, -1.5049958 ,  6.20075149, -1.5049958 , 31.32096252,
        6.05327797,  6.20075149,  6.05327797,  7.8499805 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005938045150990917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86967764e-13,  2.33709705e-14,  1.00000000e+00, -4.36961810e-27,
        1.00000000e+00, -2.33709705e-14, -1.00000000e+00,  0.00000000e+00,
        1.86967764e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10707213, -0.09378953,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.15864999e-05, 2.50761428e-05,-4.90501102e+00,-7.20550441e-03,
 -1.21306154e-03, 6.08719062e-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,
  9.49877899e-02,-7.00114349e-02, 1.30410440e-01, 9.99531682e-01,
  2.74835168e-04,-4.90490519e-04,-3.05957600e-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,  1.65216989, -1.4746664 ,  0.39834154, 16.92765431,
  29.35601221, -0.09567757]

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([ 6.36636123, -3.29942853,  5.44466039, -3.29942853, 24.02872878,
       10.70327903,  5.44466039, 10.70327903, 12.85247821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005920780200506931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37564803e-14,  9.37564803e-14,  1.00000000e+00, -8.79027760e-27,
        1.00000000e+00, -9.37564803e-14, -1.00000000e+00,  0.00000000e+00,
        9.37564803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291332, -0.05746637,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16438785e-05, 5.03392020e-05,-4.90503011e+00,-7.20174460e-03,
 -1.21334403e-03, 7.91535659e-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,
  9.49919846e-02,-7.00178172e-02, 1.30412326e-01, 9.99527301e-01,
  3.13354105e-04,-4.55367599e-04,-3.07387364e-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,  1.62896258, -1.44160642,  0.21728327, 17.04327203,
  28.22341351, -0.44364992]

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([ 6.36153885,  2.59296458, -5.80910589,  2.59296458, 42.9631133 ,
       16.33755485, -5.80910589, 16.33755485, 13.65400379,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005915005260509615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.38480167e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.38480167e-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([ 0.08291723, -0.05746315,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.54977512e-06, 2.40304169e-05,-4.90500347e+00,-7.20373034e-03,
 -1.20986257e-03, 7.62253731e-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,
  9.49900535e-02,-7.00121243e-02, 1.30412558e-01, 9.99522845e-01,
  2.71914171e-04,-4.79503177e-04,-3.08832882e-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, -1.53145789,  3.01880553, -0.41336857,-39.0501183 ,
 -30.84442418, -0.76094542]

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([ 6.35114646,  3.42157895, -5.35068771,  3.42157895, 19.39157687,
        8.33890232, -5.35068771,  8.33890232, 11.68358487,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000590256003765055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.35114725e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.35114725e-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([ 0.10705407, -0.09380205,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.04852899e-05, 1.17512562e-06,-4.90500540e+00,-7.20777191e-03,
 -1.20981672e-03, 7.58746339e-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,
  9.49946671e-02,-7.00122591e-02, 1.30413981e-01, 9.99518371e-01,
  2.66260301e-04,-4.46883626e-04,-3.10283006e-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,  1.63618033, -1.45692739,  0.29743964, 17.00799383,
  28.91655228, -0.24683231]

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([ 6.34209423, -3.30305918,  5.41405202, -3.30305918, 23.10208874,
       10.2251056 ,  5.41405202, 10.2251056 , 12.58032925,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000589171952550635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88437861e-13, -1.88437861e-13,  1.00000000e+00,  3.55088274e-26,
        1.00000000e+00,  1.88437861e-13, -1.00000000e+00,  0.00000000e+00,
        1.88437861e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08292476, -0.05745683,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.67324593e-05, 2.72376575e-05,-4.90500916e+00,-7.20334098e-03,
 -1.21347749e-03, 7.69991886e-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,
  9.50054119e-02,-7.00175990e-02, 1.30416213e-01, 9.99513856e-01,
  2.93247506e-04,-3.62663665e-04,-3.11742424e-02]

qacc:
[  4.80214288,  2.42054891, -9.99285744, 18.17501351, -1.578353  ,
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qfrc_actuator:
[-4.67232961e-06,-3.46939003e-04,-3.09386380e-04,-1.64856416e-05,
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 -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,
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Contact:
<MjContact
  H: array([ 6.32439938,  2.57056196, -5.77842874,  2.57056196, 40.3944894 ,
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  dim: 3
  dist: -0.0005870528149217756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39244397e-07,  5.39244491e-07,  1.00000000e+00,  2.90784570e-13,
        1.00000000e+00, -5.39244491e-07, -1.00000000e+00,  0.00000000e+00,
       -5.39244397e-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([ 0.08362391, -0.05850276,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
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 -4.60733332e-04,-1.11581918e-04,-3.33847348e-04,-1.36890403e-04,
  4.71453481e-07, 6.46976830e-07,-4.90499987e+00,-7.20474210e-03,
 -1.21317861e-03, 6.95418162e-06]


--- 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,
  9.50100487e-02,-7.00108263e-02, 1.30416837e-01, 9.99509279e-01,
  2.40564675e-04,-3.38012679e-04,-3.13213827e-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,
 -1.52700200e+00, 3.02814428e+00,-4.02002144e-01,-3.88873520e+01,
 -3.10120215e+01,-5.76760599e-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([ 6.33081482,  3.39929212, -5.34078921,  3.39929212, 19.38953332,
        8.31158039, -5.34078921,  8.31158039, 11.62094866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005878211461905619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72177223e-14,  4.72177223e-14,  1.00000000e+00, -2.22951329e-27,
        1.00000000e+00, -4.72177223e-14, -1.00000000e+00,  0.00000000e+00,
        4.72177223e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10703445, -0.09381563,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.76278803e-05,-2.15743389e-05,-4.90501590e+00,-7.20792179e-03,
 -1.21629369e-03, 6.41826907e-06]


--- 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,
  9.50086509e-02,-6.99921837e-02, 1.30415187e-01, 9.99504588e-01,
  1.08728106e-04,-3.70341211e-04,-3.14710901e-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, -1.50863086,  2.96747991, -0.56846515,-38.66553013,
 -29.71570902, -1.2644925 ]

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([ 6.31013468, -1.81726893,  6.04279185, -1.81726893, 33.7817558 ,
        8.26163215,  6.04279185,  8.26163215,  8.79468284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005853443394564783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74175178e-14, -4.74175178e-14,  1.00000000e+00, -2.24842099e-27,
        1.00000000e+00,  4.74175178e-14, -1.00000000e+00,  0.00000000e+00,
       -4.74175178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10702894, -0.09382046,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.32175999e-05, 5.76841856e-06,-4.90500714e+00,-7.20265422e-03,
 -1.22303846e-03, 5.03585903e-06]


--- 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,
  9.50138873e-02,-6.99795009e-02, 1.30415489e-01, 9.99499888e-01,
  1.26353058e-05,-3.43233707e-04,-3.16204918e-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,  1.65854113, -1.48997353,  0.48783566, 16.92782995,
  30.26575825,  0.14282029]

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([ 6.33059795, -3.32040423,  5.38993377, -3.32040423, 24.36888383,
       11.11227027,  5.38993377, 11.11227027, 13.17617914,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000587795173059541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.44396174e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.44396174e-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([ 0.08294222, -0.05744428,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.78616886e-05, 4.31679559e-05,-4.90505937e+00,-7.19266457e-03,
 -1.22625285e-03, 6.61465466e-06]


--- 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,
  9.50256675e-02,-6.99726320e-02, 1.30416973e-01, 9.99495160e-01,
 -4.75898358e-05,-2.59285520e-04,-3.17703634e-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, 1.63592382,-1.45345362,
  0.2957681 ,17.02611457,28.97319685,-0.24185058]

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([ 6.34204303,  2.36646083, -5.88399295,  2.36646083, 38.64805974,
       12.99303444, -5.88399295, 12.99303444, 11.56766232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005891658212440892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.4219911e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.4219911e-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([ 0.08294734, -0.05744124,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.49647456e-05, 8.84523138e-06,-4.90502683e+00,-7.18866510e-03,
 -1.22535676e-03, 4.32801420e-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,
  9.50439144e-02,-6.99714554e-02, 1.30418976e-01, 9.99490375e-01,
 -7.18947721e-05,-1.20584358e-04,-3.19213046e-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,  1.61671464, -1.42306053,  0.12965683, 17.08113486,
  27.93328424, -0.53869293]

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([ 6.32432549,  2.143637  , -5.9499507 ,  2.143637  , 49.11927596,
       15.41808391, -5.9499507 , 15.41808391, 11.87912364,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005870439658932219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89120933e-13,  1.89120933e-13,  1.00000000e+00, -3.57667272e-26,
        1.00000000e+00, -1.89120933e-13, -1.00000000e+00,  0.00000000e+00,
        1.89120933e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295074, -0.05743826,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.83823078e-05,-2.17280158e-05,-4.90502331e+00,-7.18669987e-03,
 -1.22803628e-03, 2.37206491e-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,
  9.50639234e-02,-6.99785074e-02, 1.30421295e-01, 9.99485569e-01,
 -3.55981716e-05, 3.99583534e-05,-3.20717138e-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, 0.4404844 ,-2.05718912,
  0.07887175,29.93675249,11.88242896, 0.26257018]

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([ 6.28392188,  6.12869272,  1.38809212,  6.12869272,  7.84337905,
       -6.88530226,  1.38809212, -6.88530226, 36.68385073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005822043838000777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47906070e-07,  9.53465016e-14,  1.00000000e+00, -1.41023263e-20,
        1.00000000e+00, -9.53465016e-14, -1.00000000e+00,  0.00000000e+00,
        1.47906070e-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([ 0.09151001, -0.0519663 ,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.13232303e-06,-4.91704229e-05,-4.90504645e+00,-7.18681140e-03,
 -1.23413185e-03, 7.11178960e-07]


--- 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,
  9.50812458e-02,-6.99959355e-02, 1.30422369e-01, 9.99480920e-01,
  8.13202729e-05, 1.89171359e-04,-3.22156441e-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,
 -6.71622274e-01,-2.59399553e+00,-3.11179607e-01, 4.04717401e+01,
 -4.36921694e+00, 3.24173815e+00]

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([ 6.26182776,  6.03408587,  1.67340806,  6.03408587,  8.66490754,
       -8.66518458,  1.67340806, -8.66518458, 37.50732551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005795571613552847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91564025e-13,  9.57820124e-14,  1.00000000e+00, -1.83483878e-26,
        1.00000000e+00, -9.57820124e-14, -1.00000000e+00,  0.00000000e+00,
        1.91564025e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0999233 , -0.04659469,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.82581215e-05,-5.67282553e-05,-4.90506782e+00,-7.18950890e-03,
 -1.23986921e-03, 7.72681235e-07]


--- 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,
  9.50923851e-02,-7.00009007e-02, 1.30422960e-01, 9.99476228e-01,
  1.15144496e-04, 2.75485888e-04,-3.23601640e-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,
 -1.54577567e+00, 3.11572069e+00,-1.20676658e-01,-4.05123298e+01,
 -3.27714004e+01,-3.00632495e-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([ 6.31401896,  0.32828853, -6.30547873,  0.32828853, 38.31011933,
        1.6658454 , -6.30547873,  1.6658454 ,  6.40074955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005858095721575224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73798602e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.73798602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10698459, -0.09384629,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -7.14263746e-05,-3.80195676e-05,-4.90509871e+00,-7.19591662e-03,
 -1.24399116e-03, 1.85856328e-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,
  9.50974324e-02,-6.99936932e-02, 1.30422254e-01, 9.99471466e-01,
  6.69398369e-05, 3.02176885e-04,-3.25068250e-02]

qacc:
[ -2.58241883, -1.03728983,  2.88957271, -0.5681341 ,  0.1974637 ,
  -1.38317274,  4.90950156, -6.58936206,  1.08351945, -0.12724311,
   1.7041993 , -2.94994544, -1.84515435,  3.67709857, -9.28126482,
  26.70384424, -1.52300669,  3.04317527, -0.32438586,-40.02794667,
 -31.1234996 , -1.07897238]

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([ 6.34086266, -1.15807488,  6.23421221, -1.15807488, 29.1416225 ,
        4.235497  ,  6.23421221,  4.235497  ,  7.12765376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005890244640270187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71212612e-14, -2.35606306e-14,  1.00000000e+00,  1.11020663e-27,
        1.00000000e+00,  2.35606306e-14, -1.00000000e+00,  0.00000000e+00,
        4.71212612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10697657, -0.09384844,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.11647434e-05,-2.19567618e-05,-4.90501829e+00,-7.19576480e-03,
 -1.25480955e-03,-2.99734303e-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,
  9.50964676e-02,-6.99745565e-02, 1.30419543e-01, 9.99466585e-01,
 -6.23553710e-05, 2.71887832e-04,-3.26568301e-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, -1.50302877,  2.98228961, -0.50112196,-39.59721556,
 -29.79305945, -1.68346526]

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([ 6.33336989, -0.8916518 ,  6.27028957, -0.8916518 , 36.67799712,
        4.31508642,  6.27028957,  4.31508642,  6.94698662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000588127142510747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41579466e-13,  2.35965777e-14,  1.00000000e+00, -3.34079087e-27,
        1.00000000e+00, -2.35965777e-14, -1.00000000e+00,  0.00000000e+00,
        1.41579466e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10697092, -0.09385154,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.10056838e-05, 4.46192865e-06,-4.90500592e+00,-7.19077756e-03,
 -1.26180282e-03,-4.56021904e-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,
  9.50924548e-02,-6.99660775e-02, 1.30418081e-01, 9.99461958e-01,
 -1.13289748e-04, 2.33257037e-04,-3.27982772e-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, -0.76199295, -2.66441508,  0.3121474 , 39.29456845,
  -2.88943938,  4.29124774]

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([ 6.3029957 , -0.89461186,  6.23918459, -0.89461186, 28.75032708,
        3.21863355,  6.23918459,  3.21863355,  6.76450276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005844892485051069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63036247e-07,  6.63036437e-07,  1.00000000e+00,  4.39617190e-13,
        1.00000000e+00, -6.63036437e-07, -1.00000000e+00, -5.04870979e-29,
       -6.63036247e-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([ 0.1001038 , -0.04762993,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.69926732e-05, 4.17199321e-05,-4.90505672e+00,-7.18093067e-03,
 -1.26529370e-03,-3.09148778e-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,
  9.50855943e-02,-6.99684806e-02, 1.30416768e-01, 9.99457569e-01,
 -8.43299115e-05, 1.85483932e-04,-3.29321330e-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,
 -7.11927189e-01,-2.72054776e+00, 3.74079077e-02, 4.00746675e+01,
 -3.25895673e+00, 3.80632774e+00]

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([ 6.33282701, -1.75789801, -6.08395369, -1.75789801, 36.35773725,
       -8.67539969, -6.08395369, -8.67539969,  8.83949761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005880621274666487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.88793492e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.88793492e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09995838, -0.046602  ,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.00658532e-05, 3.33737228e-05,-4.90501612e+00,-7.17781744e-03,
 -1.25714065e-03,-3.14632991e-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,
  9.50759680e-02,-6.99815643e-02, 1.30414870e-01, 9.99453378e-01,
  2.30509077e-05, 1.27050891e-04,-3.30594725e-02]

qacc:
[ -3.43517209, -1.35344182,  5.7091264 ,-11.2042077 , -2.96768208,
   1.53545989, -6.24788499, 10.2558934 ,  7.45003312,  0.47866236,
  -0.73331884, -4.0929837 , -1.47153112,  2.38656094, -2.29317498,
   1.64913264, -0.69144075, -2.67011501, -0.1465557 , 39.36415391,
  -4.03608507,  3.26646959]

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([  6.32902383,  -1.68773341,  -6.09984414,  -1.68773341,
        42.52207829, -10.0140636 ,  -6.09984414, -10.0140636 ,
         9.09976179,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000587606654328679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88939832e-13,  9.44699159e-14,  1.00000000e+00, -1.78491300e-26,
        1.00000000e+00, -9.44699159e-14, -1.00000000e+00,  0.00000000e+00,
        1.88939832e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09996448, -0.04660182,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.21191324e-05, 3.41800089e-05,-4.90501491e+00,-7.17963072e-03,
 -1.24913856e-03,-3.20239232e-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,
  9.50602027e-02,-6.99824362e-02, 1.30411986e-01, 9.99449063e-01,
  4.56928321e-05, 8.45412335e-06,-3.31898746e-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,
 -1.53476007e+00, 3.05292645e+00,-2.46179723e-01,-4.13516010e+01,
 -3.14661594e+01,-1.53718349e+00]

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([ 6.34028468,  0.58964087, -6.3128071 ,  0.58964087, 38.85089171,
        3.03661782, -6.3128071 ,  3.03661782,  6.62391666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005889552471907283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.71990232e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.71990232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10694665, -0.093859  ,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.88989123e-05, 4.44854159e-05,-4.90505379e+00,-7.18625928e-03,
 -1.24127262e-03,-3.27595334e-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,
  9.50383757e-02,-6.99713416e-02, 1.30407369e-01, 9.99444577e-01,
 -1.49330211e-05,-1.67642932e-04,-3.33243061e-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 , -1.51542808,  2.99162589, -0.43349887,-40.65671685,
 -30.11621922, -2.0155307 ]

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([ 6.34801296,  0.42601742,  6.33370174,  0.42601742, 37.28877685,
       -2.08113753,  6.33370174, -2.08113753,  6.48799443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005898807531918848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64672329e-14, -9.41057170e-14,  1.00000000e+00,  2.49071793e-27,
        1.00000000e+00,  9.41057170e-14, -1.00000000e+00,  0.00000000e+00,
        2.64672329e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1069408 , -0.09386004,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.43072414e-06, 6.15333793e-05,-4.90505746e+00,-7.18610567e-03,
 -1.23883174e-03,-7.97900529e-07]


--- 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,
  9.50233712e-02,-6.99664205e-02, 1.30405732e-01, 9.99440076e-01,
 -4.00900184e-05,-2.84195863e-04,-3.34582211e-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, 1.70562092,-1.54337124,
  0.74516801,16.73248796,30.34650837, 0.255405  ]

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([ 6.37853749, -3.16450045,  5.53820164, -3.16450045, 27.68152042,
       12.17241688,  5.53820164, 12.17241688, 13.33379504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000593536169978856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67630736e-14, -9.35261472e-14,  1.00000000e+00,  4.37357011e-27,
        1.00000000e+00,  9.35261472e-14, -1.00000000e+00,  0.00000000e+00,
        4.67630736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08299132, -0.05739567,  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:
[ 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,
  1.58227969e-05, 9.09895949e-05,-4.90512550e+00,-7.18089994e-03,
 -1.23285351e-03, 4.81365891e-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,
  9.50150578e-02,-6.99674979e-02, 1.30406155e-01, 9.99435554e-01,
 -2.94923508e-05,-3.43808202e-04,-3.35924631e-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,  1.67279289, -1.4996142 ,  0.51505737, 16.91471016,
  29.05250288, -0.1677291 ]

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([ 6.42180606,  3.42670963, -5.43113747,  3.42670963, 32.67926545,
       16.56682222, -5.43113747, 16.56682222, 16.87443952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000598718206975074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63583290e-14, -9.27166580e-14,  1.00000000e+00,  4.29818933e-27,
        1.00000000e+00,  9.27166580e-14, -1.00000000e+00,  0.00000000e+00,
        4.63583290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08299646, -0.05739238,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.36169274e-06, 6.27937900e-05,-4.90505579e+00,-7.18131111e-03,
 -1.22353636e-03, 4.63433216e-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,
  9.50133227e-02,-6.99744281e-02, 1.30407841e-01, 9.99430999e-01,
  1.70335873e-05,-3.48601620e-04,-3.37276886e-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 , 1.64455199,-1.46321478,
  0.31564905,17.03307473,27.99745729,-0.49742386]

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([ 6.42858492,  3.22004451, -5.56399294,  3.22004451, 42.26814114,
       20.74139332, -5.56399294, 20.74139332, 18.43223235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005995301958426208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.25910848e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.25910848e-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([ 0.08299988, -0.05738919,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.87566673e-06, 3.86249280e-05,-4.90501755e+00,-7.18372780e-03,
 -1.21777797e-03, 4.71819581e-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,
  9.50180699e-02,-6.99870911e-02, 1.30410102e-01, 9.99426386e-01,
  9.95877009e-05,-3.00298139e-04,-3.38644068e-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 ,  1.62058846, -1.43318869,  0.14369034, 17.10816027,
  27.14089482, -0.75359835]

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([ 6.40596952,  2.93462249, -5.6942459 ,  2.93462249, 55.30844408,
       25.20268782, -5.6942459 , 25.20268782, 19.39458573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005968214218338708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65056625e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.65056625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300192, -0.05738605,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.08486231e-05, 1.78037076e-05,-4.90500799e+00,-7.18820608e-03,
 -1.21542149e-03, 5.04981135e-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,
  9.50292193e-02,-7.00053888e-02, 1.30412347e-01, 9.99421687e-01,
  2.18224600e-04,-2.00287527e-04,-3.40030109e-02]

qacc:
[ 5.00909371e+00,-2.08643829e+00, 9.11747300e+00,-1.71811321e+01,
 -6.99571395e-01, 3.25430428e+00,-1.39152716e+01, 2.68023922e+01,
  1.50414181e-01, 1.68205665e+00,-4.87981237e+00, 3.82540047e+00,
 -2.04457101e+00, 4.17374075e+00,-4.29948810e+00, 8.62306829e+00,
  1.60056075e+00,-1.40867172e+00,-3.99090169e-03, 1.71552498e+01,
  2.64495899e+01,-9.51872889e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005913194840638375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38767498e-14, -9.38767498e-14,  1.00000000e+00,  8.81284414e-27,
        1.00000000e+00,  9.38767498e-14, -1.00000000e+00,  0.00000000e+00,
        9.38767498e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300287, -0.05738296,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.05268489e-05,-1.59318455e-07,-4.90502500e+00,-7.19478454e-03,
 -1.21634176e-03, 5.61545519e-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,
  9.50342255e-02,-7.00112619e-02, 1.30413834e-01, 9.99416935e-01,
  2.55182866e-04,-1.61747653e-04,-3.41423218e-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, -1.53582452,  3.1061336 , -0.18949912,-39.77066918,
 -32.10633691, -0.33920222]

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([ 6.36873752,  3.42469744, -5.36956843,  3.42469744, 22.86332029,
       10.52020401, -5.36956843, 10.52020401, 13.07849757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005923625881685685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97842026e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.97842026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689983, -0.0938787 ,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.38945331e-05,-1.56128714e-05,-4.90506703e+00,-7.20348957e-03,
 -1.22043952e-03, 6.40419783e-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,
  9.50331757e-02,-7.00049986e-02, 1.30413777e-01, 9.99412098e-01,
  2.11284678e-04,-1.81691118e-04,-3.42838293e-02]

qacc:
[ -5.03895915,  1.96777275, -6.58132512,  8.44041209,  4.64519674,
  -0.40372376,  1.69568507, -2.7832181 , -3.00479661,  0.70508949,
  -2.50626896,  3.14693066, -2.00735456,  4.1062907 , -4.08702582,
   6.18106885, -1.51397687,  3.03409161, -0.38589445,-39.40644296,
 -30.60522051, -1.08513327]

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([ 6.37919037, -1.69084245,  6.15102606, -1.69084245, 30.15564652,
        6.53585939,  6.15102606,  6.53585939,  8.17581884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936143555087953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19814593e-13, -1.87027658e-13,  1.00000000e+00,  2.24086427e-26,
        1.00000000e+00,  1.87027658e-13, -1.00000000e+00,  0.00000000e+00,
        1.19814593e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689285, -0.09388215,  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:
[-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,
 -1.93649505e-05,-7.25758793e-07,-4.90500551e+00,-7.20374945e-03,
 -1.22801565e-03, 3.23285756e-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,
  9.50261458e-02,-6.99868397e-02, 1.30411497e-01, 9.99407120e-01,
  8.72675023e-05,-2.57710208e-04,-3.44286868e-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, -1.49503597,  2.97392757, -0.55574079,-39.07498929,
 -29.39508859, -1.6632173 ]

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([ 6.35805678, -1.39933243,  6.20215726, -1.39933243, 38.36723334,
        7.22191926,  6.20215726,  7.22191926,  7.9874682 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005910835379406287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.33704868e-14, -2.81742669e-13,  1.00000000e+00,  2.06715968e-26,
        1.00000000e+00,  2.81742669e-13, -1.00000000e+00,  0.00000000e+00,
        7.33704868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10688803, -0.09388633,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.76628260e-05, 2.45616653e-05,-4.90500875e+00,-7.19922050e-03,
 -1.23184870e-03, 3.23869037e-06]


--- 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,
  9.50257677e-02,-6.99747332e-02, 1.30411472e-01, 9.99402136e-01,
 -8.41314720e-07,-2.73731526e-04,-3.45730487e-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,  1.66295491, -1.51310755,  0.56365698, 16.91077693,
  30.59926007,  0.24032514]

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([ 6.34193861, -3.28112476,  5.42719132, -3.28112476, 25.37498048,
       11.50683312,  5.42719132, 11.50683312, 13.29864103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005891533157530437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42219109e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.42219109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830189 , -0.05737024,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.89344074e-05, 6.07023469e-05,-4.90507272e+00,-7.18987528e-03,
 -1.23223600e-03, 6.19343898e-06]


--- 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,
  9.50319425e-02,-6.99685241e-02, 1.30412890e-01, 9.99397129e-01,
 -5.29010091e-05,-2.32476480e-04,-3.47177356e-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,  1.63821727, -1.47436212,  0.36074823, 17.02363145,
  29.24422128, -0.16773219]

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([ 6.36357902,  2.46658696, -5.86609638,  2.46658696, 36.65623598,
       12.73751192, -5.86609638, 12.73751192, 11.71947138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005917448425406535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69046346e-14, -9.38092692e-14,  1.00000000e+00,  4.40008949e-27,
        1.00000000e+00,  9.38092692e-14, -1.00000000e+00,  0.00000000e+00,
        4.69046346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08302442, -0.05736723,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.77698300e-05, 2.72017852e-05,-4.90502560e+00,-7.18639660e-03,
 -1.22876161e-03, 4.28845028e-06]


--- 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,
  9.50445855e-02,-6.99680834e-02, 1.30415048e-01, 9.99392076e-01,
 -6.88489097e-05,-1.36140540e-04,-3.48633832e-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,  1.61705754, -1.44207917,  0.18509527, 17.08875666,
  28.15072347, -0.48362508]

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([ 6.3537667 ,  2.25532997, -5.94002003,  2.25532997, 46.60923484,
       15.28435311, -5.94002003, 15.28435311, 12.15698949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005905697868236887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69979607e-14, -9.39959213e-14,  1.00000000e+00,  4.41761661e-27,
        1.00000000e+00,  9.39959213e-14, -1.00000000e+00,  0.00000000e+00,
        4.69979607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08302814, -0.05736426,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.29076350e-05,-2.33304065e-06,-4.90500869e+00,-7.18494131e-03,
 -1.22889899e-03, 2.71139175e-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,
  9.50636258e-02,-6.99733042e-02, 1.30417341e-01, 9.99386944e-01,
 -4.86706924e-05, 1.35135539e-05,-3.50104816e-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 ,  1.59930464, -1.41540136,  0.03372441, 17.12255107,
  27.27265502, -0.7268897 ]

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([ 6.31881656,  1.9802156 , -6.00051572,  1.9802156 , 59.51650636,
       17.55564022, -6.00051572, 17.55564022, 12.11231069,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005863841809468778
  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([ 0.08303043, -0.05736131,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.37445010e-06,-2.85742573e-05,-4.90501936e+00,-7.18555666e-03,
 -1.23248082e-03, 1.42796154e-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,
  9.50798982e-02,-6.99889163e-02, 1.30418560e-01, 9.99382005e-01,
  5.28212639e-05, 1.51870102e-04,-3.51508372e-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 , -0.69194544, -2.59781777, -0.26858331, 40.82967026,
  -4.22205896,  3.37291998]

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([ 6.29818066,  5.75660119,  2.55511688,  5.75660119,  9.76504539,
       -7.81074158,  2.55511688, -7.81074158, 23.89554562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0005839124873899121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75337935e-14,  9.50675871e-14,  1.00000000e+00,  4.51892305e-27,
        1.00000000e+00, -9.50675871e-14, -1.00000000e+00,  0.00000000e+00,
       -4.75337935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10006366, -0.04662188,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.78166127e-05,-5.20034717e-05,-4.90505566e+00,-7.18827422e-03,
 -1.23937517e-03, 4.10874468e-07]


--- 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,
  9.50900684e-02,-6.99920667e-02, 1.30419137e-01, 9.99377013e-01,
  7.16592123e-05, 2.28455402e-04,-3.52920453e-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, -1.52556598,  3.11543694, -0.16051709,-40.21574271,
 -32.31923458, -0.43150645]

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([ 6.32644172,  0.22612596, -6.32239922,  0.22612596, 38.61282851,
        1.15474995, -6.32239922,  1.15474995,  6.36774233,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005872974142181187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79360048e-14, -9.45196588e-14,  1.00000000e+00, -6.42128800e-27,
        1.00000000e+00,  9.45196588e-14, -1.00000000e+00,  0.00000000e+00,
       -6.79360048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10684759, -0.09391233,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.03097382e-05,-3.53572712e-05,-4.90507955e+00,-7.19375420e-03,
 -1.24285081e-03, 1.46502216e-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,
  9.50942252e-02,-6.99830414e-02, 1.30418276e-01, 9.99371932e-01,
  8.80763247e-06, 2.46364465e-04,-3.54355963e-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, -1.50333883,  3.04391727, -0.35950948,-39.78364553,
 -30.76141029, -1.17955615]

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([ 6.34533824, -1.3261851 ,  6.2052035 , -1.3261851 , 30.33411511,
        5.12691622,  6.2052035 ,  5.12691622,  7.44107022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005895604415894207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94240141e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.94240141e-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([ 0.1068402 , -0.09391498,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.26922948e-05,-1.84150308e-05,-4.90501182e+00,-7.19276720e-03,
 -1.25287156e-03,-2.79138594e-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,
  9.50924464e-02,-6.99620800e-02, 1.30415287e-01, 9.99366706e-01,
 -1.34880759e-04, 2.08094839e-04,-3.55826458e-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, -1.48391939,  2.98404289, -0.53194779,-39.39722624,
 -29.50395025, -1.76041907]

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([ 6.33141066, -1.04325139,  6.24486889, -1.04325139, 38.35009015,
        5.34895646,  6.24486889,  5.34895646,  7.22499327,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0005878925046245848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95074944e-15,  9.44239819e-14,  1.00000000e+00, -2.78621511e-28,
        1.00000000e+00, -9.44239819e-14, -1.00000000e+00,  0.00000000e+00,
        2.95074944e-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([ 0.10683503, -0.09391849,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.73834674e-05, 8.95438175e-06,-4.90501061e+00,-7.18695643e-03,
 -1.25914826e-03,-3.83186274e-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,
  9.50876336e-02,-6.99522816e-02, 1.30413559e-01, 9.99361778e-01,
 -1.96265155e-04, 1.62182630e-04,-3.57207462e-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, -0.758489  , -2.79077321,  0.31535597, 41.2609969 ,
  -2.35520932,  4.48504415]

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([ 6.36317569, -0.88147345,  6.30182588, -0.88147345, 30.03428799,
        3.3110177 ,  6.30182588,  3.3110177 ,  6.82630721,  0.        ,
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  dim: 3
  dist: -0.0005916965425209059
  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([ 0.10009156, -0.04662988,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.16972591e-05, 4.71962035e-05,-4.90507145e+00,-7.17629749e-03,
 -1.26198413e-03,-1.89736780e-06]


--- Step 299 ---
qpos:
[ 2.85990428e-03,-5.58283068e-03,-1.01619641e-02, 2.78896302e-03,
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 -4.67264889e-03,-3.97121701e-03,-7.68813755e-03,-1.90941750e-02,
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  9.50798910e-02,-6.99533971e-02, 1.30412200e-01, 9.99357116e-01,
 -1.77233057e-04, 1.06713494e-04,-3.58512598e-02]

qacc:
[-2.76523011e+00,-1.62181541e+00, 5.00038179e+00,-6.11520487e+00,
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 -1.97690641e-02,-4.66735522e-01, 3.61742441e+00,-1.13628803e+01,
 -2.16600996e+00, 4.68058897e+00,-1.18970583e+00,-2.05064172e+00,
 -7.32453244e-01,-2.72847398e+00, 9.20738504e-02, 4.03526868e+01,
 -3.33991132e+00, 3.80134518e+00]

qfrc_actuator:
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  1.28830202e-05,-3.98402146e-04,-2.48345123e-04,-1.77338362e-04,
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  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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Contact:
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  H: array([ 6.3986719 , -1.58716698, -6.19870172, -1.58716698, 33.56971077,
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  dim: 3
  dist: -0.0005959474251354679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.65738662e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.65738662e-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([ 0.10009884, -0.04663153,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.37265821e-05, 3.62009299e-05,-4.90502227e+00,-7.17262428e-03,
 -1.25313414e-03,-2.07084263e-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,
  9.50693036e-02,-6.99652156e-02, 1.30410435e-01, 9.99352677e-01,
 -7.93725784e-05, 4.01984513e-05,-3.59752657e-02]

qacc:
[ 1.36493173,-0.56531146, 0.40195206, 3.91995594, 4.4485143 , 1.29606683,
 -7.16572178,18.29027233,-2.99419493,-0.54360166, 2.8258163 ,-7.16024625,
 -1.50905538, 2.45002504,-4.69378717, 9.85456893,-0.71117974,-2.67574579,
 -0.10120019,39.58652937,-4.10694305, 3.25895905]

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([  6.39858791,  -1.83852982,  -6.12876295,  -1.83852982,
        41.46996047, -10.52084487,  -6.12876295, -10.52084487,
         9.55467131,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005959373666045847
  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([ 0.10010487, -0.04663163,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -7.77153891e-06, 3.57555819e-05,-4.90501638e+00,-7.17386669e-03,
 -1.24469301e-03,-2.17811360e-06]


--- 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,
  9.50559406e-02,-6.99875604e-02, 1.30407600e-01, 9.99348408e-01,
  9.59933751e-05,-3.85224512e-05,-3.60936200e-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, -0.69392681, -2.63155293, -0.26791006, 38.9470999 ,
  -4.70506711,  2.82810936]

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([  6.36988977,  -2.14882598,  -5.99650253,  -2.14882598,
        50.85243609, -15.94016693,  -5.99650253, -15.94016693,
        12.08199357,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005925005733495581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36896161e-14,  4.68448080e-14,  1.00000000e+00, -4.38887208e-27,
        1.00000000e+00, -4.68448080e-14, -1.00000000e+00,  0.00000000e+00,
        9.36896161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10010992, -0.04663049,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.37201115e-05, 4.48879241e-05,-4.90505125e+00,-7.17995226e-03,
 -1.23639139e-03,-2.30003796e-06]


--- 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,
  9.50363920e-02,-6.99974431e-02, 1.30404478e-01, 9.99343985e-01,
  1.84752692e-04,-1.78374960e-04,-3.62150961e-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, -1.54638917,  3.11549567, -0.07144444,-42.17192464,
 -32.10901328, -1.55806413]

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([ 6.3946189 ,  0.55948619, -6.37009624,  0.55948619, 45.65476633,
        3.44822269, -6.37009624,  3.44822269,  6.69747664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005954620330074351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.0392676e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.0392676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10680321, -0.09392495,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.48004420e-05, 6.29214229e-05,-4.90512493e+00,-7.19081639e-03,
 -1.22802741e-03,-2.49036994e-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,
  9.50107483e-02,-6.99951457e-02, 1.30400218e-01, 9.99339372e-01,
  1.88682252e-04,-3.76518662e-04,-3.63406413e-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 , -1.52377479,  3.04502634, -0.28456456,-41.33188896,
 -30.66292872, -2.02368507]

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([ 6.42612329,  0.56534484,  6.40120658,  0.56534484, 35.03893602,
       -2.52704016,  6.40120658, -2.52704016,  6.64930764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005992353300046244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89489519e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.89489519e-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([ 0.1067967 , -0.09392474,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.55939404e-05, 6.98269651e-05,-4.90509972e+00,-7.19489691e-03,
 -1.22405743e-03,-2.19050707e-07]


--- 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,
  9.49918686e-02,-6.99990394e-02, 1.30398786e-01, 9.99334729e-01,
  2.28596106e-04,-5.16425149e-04,-3.64661478e-02]

qacc:
[-1.58225462e+00, 4.82444120e-01,-8.44678518e-01,-1.62395268e+00,
  6.63484444e-01,-2.38011248e-01, 1.90229151e+00,-7.56927116e+00,
  3.35327630e+00, 8.92100264e-01,-9.44886599e-01,-3.99839351e+00,
 -1.95061955e+00, 3.99112824e+00,-2.37091628e+00, 2.21080689e+00,
  1.69099248e+00,-1.54776001e+00, 7.06781188e-01, 1.69220823e+01,
  2.97532159e+01, 6.51303856e-03]

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([ 6.43993408, -3.12932292,  5.62850682, -3.12932292, 28.10953106,
       12.04780746,  5.62850682, 12.04780746, 13.13824346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006008897350295445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23815935e-14, -9.23815935e-14,  1.00000000e+00,  8.53435881e-27,
        1.00000000e+00,  9.23815935e-14, -1.00000000e+00,  0.00000000e+00,
        9.23815935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307076, -0.05732139,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.07837998e-06, 8.99114713e-05,-4.90514168e+00,-7.19383572e-03,
 -1.21645198e-03, 5.32491612e-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,
  9.49796190e-02,-7.00089569e-02, 1.30399272e-01, 9.99330048e-01,
  3.04731484e-04,-6.00497240e-04,-3.65923774e-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,  1.65754363, -1.50594633,  0.47970357, 17.08049809,
  28.55896262, -0.37776215]

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([ 6.47283824,  3.5189774 , -5.43271875,  3.5189774 , 35.37132176,
       18.7186407 , -5.43271875, 18.7186407 , 18.59760976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006048323550466861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.83558802e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.83558802e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307511, -0.0573182 ,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.25705609e-05, 6.79396765e-05,-4.90507989e+00,-7.19814835e-03,
 -1.20596418e-03, 6.39051142e-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,
  9.49738848e-02,-7.00247597e-02, 1.30400891e-01, 9.99325310e-01,
  4.17230815e-04,-6.30697035e-04,-3.67199236e-02]

qacc:
[ 3.2606784 ,-1.12930694, 4.81041744,-8.79892178, 0.239109  ,-1.19259889,
  3.70660757,-3.87626772, 1.20982681, 1.58705848,-7.0907788 ,15.33703379,
 -0.63440579,-0.37876666,-4.32636059, 8.19716081, 1.62883839,-1.471333  ,
  0.28331691,17.18375162,27.58320627,-0.67797591]

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([ 6.47058386,  3.28178301, -5.57658998,  3.28178301, 46.21441693,
       23.38895928, -5.57658998, 23.38895928, 20.2348178 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006045621782272692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.18204169e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.18204169e-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([ 0.08307789, -0.05731506,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.58819513e-05, 4.97529089e-05,-4.90504916e+00,-7.20450715e-03,
 -1.19894172e-03, 7.68511570e-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,
  9.49687076e-02,-7.00340624e-02, 1.30404978e-01, 9.99320614e-01,
  4.82512283e-04,-6.64227376e-04,-3.68461132e-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 ,  0.13925005,  1.62500107,  0.61683531,-23.53143546,
  -2.53077136,  0.6941645 ]

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([ 6.45598578,  2.73569483, -5.84771119,  2.73569483, 25.68840858,
        8.99737313, -5.84771119,  8.99737313, 10.66516546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006028128712171516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01440031e-14,  1.18254700e-06,  1.00000000e+00,  2.38212304e-20,
        1.00000000e+00, -1.18254700e-06, -1.00000000e+00,  0.00000000e+00,
       -2.01440031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09399628, -0.08097317,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.29640588e-05, 3.47525996e-05,-4.90504685e+00,-7.21296132e-03,
 -1.19524379e-03, 9.20065010e-06]


--- 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,
  9.49712741e-02,-7.00359253e-02, 1.30409143e-01, 9.99316298e-01,
  4.88318769e-04,-6.46934936e-04,-3.69632156e-02]

qacc:
[ 2.92896947e+00, 3.02892475e+00,-1.14425097e+01, 1.70618516e+01,
 -3.61143490e+00, 2.63207445e-01, 4.62953356e-01,-3.56849709e+00,
 -7.85695314e-01,-3.65340280e-01, 4.50499232e-01, 1.22158496e+00,
 -1.44040429e+00, 2.28719564e+00,-4.09397571e+00, 7.24295258e+00,
  1.93591951e+00, 1.85998736e+00, 1.96519384e-02,-3.06506720e+01,
  2.43007340e+01, 4.55497666e+00]

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([ 6.44908264, -6.44754004,  0.14104699, -6.44754004,  6.45981199,
        0.49046004,  0.14104699,  0.49046004, 28.86899257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006019857708727955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38320091e-13, -9.22133943e-14,  1.00000000e+00,  1.27549651e-26,
        1.00000000e+00,  9.22133943e-14, -1.00000000e+00,  0.00000000e+00,
        1.38320091e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08059969, -0.0839457 ,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.48564732e-05, 2.89417550e-05,-4.90502084e+00,-7.21691060e-03,
 -1.19612679e-03, 1.00366608e-05]


--- 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,
  9.49744972e-02,-7.00278009e-02, 1.30413161e-01, 9.99312079e-01,
  4.21849492e-04,-6.33374635e-04,-3.70781496e-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,  0.16414693,  2.49680188, -0.03688219,-36.04352109,
  -3.2000052 ,  1.10961163]

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([ 6.40966357,  6.38687028, -0.54006959,  6.38687028,  6.63226729,
        2.63251452, -0.54006959,  2.63251452, 37.54181622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005972638512801346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.86587056e-07, -1.43861079e-13,  1.00000000e+00, -8.43870469e-20,
        1.00000000e+00,  1.43861079e-13, -1.00000000e+00,  1.20370622e-35,
       -5.86587056e-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([ 0.09372088, -0.08895957,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.43043301e-06, 3.94105428e-06,-4.90499962e+00,-7.21848341e-03,
 -1.20077430e-03, 1.03331820e-05]


--- 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,
  9.49781973e-02,-7.00133783e-02, 1.30418261e-01, 9.99307873e-01,
  3.10068273e-04,-6.20219237e-04,-3.71926518e-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,  0.11926573,  1.57456979,  0.27061846,-22.63274496,
  -1.04225853,  0.23037469]

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([ 6.35446531,  0.71691796,  6.31389404,  0.71691796, 47.6278281 ,
       -4.68642885,  6.31389404, -4.68642885,  6.88659097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005906534476221229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10456512e-14,  1.05388985e-06,  1.00000000e+00,  9.59520880e-20,
        1.00000000e+00, -1.05388985e-06, -1.00000000e+00, -1.20370622e-35,
       -9.10456512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09398919, -0.08097715,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.36495225e-05, 7.17425872e-06,-4.90501253e+00,-7.21417868e-03,
 -1.20531698e-03, 9.75142809e-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,
  9.49882396e-02,-7.00046899e-02, 1.30423731e-01, 9.99303617e-01,
  2.35249395e-04,-5.52260377e-04,-3.73084436e-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 ,  1.58552612, -1.43356838,  0.09246651, 17.4488442 ,
  28.06991448, -0.66520121]

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([ 6.31493177, -2.44224686,  5.82355506, -2.44224686, 29.44589187,
        9.70052038,  5.82355506,  9.70052038, 10.3830766 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005859189011116067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73710194e-14, -9.47420387e-14,  1.00000000e+00,  4.48802695e-27,
        1.00000000e+00,  9.47420387e-14, -1.00000000e+00,  0.00000000e+00,
        4.73710194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309101, -0.05730125,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.05159978e-05, 1.25424738e-05,-4.90503738e+00,-7.20720668e-03,
 -1.20828093e-03, 9.23030447e-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,
  9.50045641e-02,-7.00016402e-02, 1.30429027e-01, 9.99299291e-01,
  1.97238985e-04,-4.31298695e-04,-3.74259620e-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,  1.57057132, -1.40967042, -0.04371825, 17.40222292,
  27.16936591, -0.8804822 ]

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([ 6.27053617,  0.97965468, -6.193537  ,  0.97965468, 63.6095252 ,
        9.06952024, -6.193537  ,  9.06952024,  7.70509577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005806006458287521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78049341e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.78049341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309334, -0.05729875,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.87863263e-05,-1.22593710e-05,-4.90502541e+00,-7.20387987e-03,
 -1.21047001e-03, 7.16714256e-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,
  9.50271221e-02,-7.00041506e-02, 1.30433681e-01, 9.99294865e-01,
  1.95891773e-04,-2.58766976e-04,-3.75455412e-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,
  1.55836866e+00,-1.39003532e+00,-1.60322602e-01, 1.73532900e+01,
  2.64528049e+01,-1.04445218e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005732232679366983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84201831e-14, -1.93680733e-13,  1.00000000e+00,  9.37805654e-27,
        1.00000000e+00,  1.93680733e-13, -1.00000000e+00,  0.00000000e+00,
        4.84201831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309456, -0.05729619,  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:
[ 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,
  1.33874083e-05,-3.43564978e-05,-4.90503954e+00,-7.20270492e-03,
 -1.21596691e-03, 5.41248570e-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,
  9.50437884e-02,-6.99946208e-02, 1.30436243e-01, 9.99290334e-01,
  1.15491888e-04,-1.43629401e-04,-3.76668794e-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,
 -1.47291349e+00, 3.01008120e+00,-5.23007069e-01,-3.84212351e+01,
 -3.01610610e+01,-8.65060773e-01]

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([ 6.16991769,  3.17433689, -5.29069651,  3.17433689, 23.19779284,
       10.21646433, -5.29069651, 10.21646433, 12.29963983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005685351118968895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.18706734e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.18706734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10674037, -0.09397371,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.65614042e-06,-5.40815666e-05,-4.90507822e+00,-7.20369214e-03,
 -1.22466365e-03, 3.93402282e-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,
  9.50546299e-02,-6.99732660e-02, 1.30436131e-01, 9.99285651e-01,
 -4.36133505e-05,-8.35833855e-05,-3.77912546e-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, -1.4562267 ,  2.95621169, -0.66837388,-38.2873962 ,
 -29.00871017, -1.5114172 ]

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([ 6.1411755 , -1.79128806,  5.87412322, -1.79128806, 37.76076413,
        9.64225458,  5.87412322,  9.64225458,  9.08153866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000565083871330363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14889593e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.14889593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10673568, -0.09397879,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.36035423e-05,-3.04440615e-05,-4.90505064e+00,-7.19690573e-03,
 -1.23595785e-03,-4.61613191e-08]


--- 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,
  9.50624647e-02,-6.99628373e-02, 1.30436618e-01, 9.99281231e-01,
 -1.20402727e-04,-3.34993903e-05,-3.79078505e-02]

qacc:
[  3.99167486, -0.74765696,  3.23644611, -6.09155005, -2.4117759 ,
  -0.61215272,  0.49216227,  5.59067529, -2.56966938, -0.06693284,
   0.51749247, -1.93600082, -1.35513435,  1.85971016,-16.43865882,
  50.32312728, -0.75164593, -2.73149213,  0.14972804, 41.31710001,
  -3.42220096,  3.88817964]

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([ 6.13257152, -0.89450471,  6.06698399, -0.89450471, 32.2976596 ,
        3.85773136,  6.06698399,  3.85773136,  6.70134817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000564050234292443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84152614e-14, -9.84152614e-14,  1.00000000e+00,  9.68556367e-27,
        1.00000000e+00,  9.84152614e-14, -1.00000000e+00,  0.00000000e+00,
        9.84152614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1001995 , -0.04664309,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.74995602e-05, 3.10766936e-06,-4.90508333e+00,-7.18543317e-03,
 -1.24387797e-03,-1.17766098e-06]


--- 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,
  9.50673862e-02,-6.99631298e-02, 1.30436937e-01, 9.99277056e-01,
 -1.16807252e-04, 5.18747452e-06,-3.80177702e-02]

qacc:
[  2.54131238, -1.95425756, 10.30771953,-24.22032375, -4.5726252 ,
   1.61515801, -6.47676003, 11.20849794, -1.51317411, -0.07065326,
   0.28059411, -1.00407074, -0.51400237, -0.93319334, -9.40397878,
  26.55793216, -0.72833447, -2.68032699, -0.04229743, 40.37968403,
  -4.1712586 ,  3.3382916 ]

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([  6.16239503,  -2.6861433 ,  -5.54614702,  -2.6861433 ,
        35.96893655, -14.43608356,  -5.54614702, -14.43608356,
        13.1541659 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005676320639561167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.77942487e-14,  4.88971243e-14,  1.00000000e+00, -4.78185754e-27,
        1.00000000e+00, -4.88971243e-14, -1.00000000e+00,  0.00000000e+00,
        9.77942487e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10020524, -0.04664531,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.91879280e-05,-5.46819206e-06,-4.90502120e+00,-7.18035605e-03,
 -1.24167818e-03,-7.04502279e-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,
  9.50694715e-02,-6.99739699e-02, 1.30436419e-01, 9.99273096e-01,
 -3.44363691e-05, 3.13700402e-05,-3.81218841e-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,
 -7.09046125e-01,-2.63687678e+00,-2.08931566e-01, 3.95969188e+01,
 -4.75053661e+00, 2.90436614e+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([  6.16109113,  -2.9609763 ,  -5.40293099,  -2.9609763 ,
        42.83305537, -20.09739108,  -5.40293099, -20.09739108,
        17.17509424,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005674755215095556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.8910613e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.8910613e-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([ 0.10021003, -0.04664599,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.84900618e-06,-4.32002524e-06,-4.90500164e+00,-7.18024676e-03,
 -1.23969421e-03,-2.62138058e-07]


--- 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,
  9.50687842e-02,-6.99952115e-02, 1.30434489e-01, 9.99269306e-01,
  1.25380576e-04, 4.41939282e-05,-3.82208788e-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,-0.69317273,-2.60039789,
 -0.35301954,38.94943509,-5.1983795 , 2.56199886]

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([  6.13476752,  -3.28185124,  -5.18312888,  -3.28185124,
        49.87146873, -27.69318506,  -5.18312888, -27.69318506,
        23.66952614,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000564314074384023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.4592312e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.4592312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10021408, -0.04664543,  0.06198256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.94691919e-05, 5.77201813e-06,-4.90502229e+00,-7.18501827e-03,
 -1.23770786e-03, 9.67709141e-08]


--- 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,
  9.50619617e-02,-7.00039994e-02, 1.30432144e-01, 9.99265361e-01,
  1.98960454e-04,-2.52110588e-06,-3.83236156e-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, -1.53376918,  3.11344619, -0.10388146,-41.94911944,
 -31.3959682 , -1.87084505]

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([ 6.19940154,  0.37234381, -6.18820972,  0.37234381, 54.10798382,
        2.88265346, -6.18820972,  2.88265346,  6.37285044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005720729684966647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72911187e-14, -9.70350887e-14,  1.00000000e+00,  2.64819612e-27,
        1.00000000e+00,  9.70350887e-14, -1.00000000e+00,  0.00000000e+00,
        2.72911187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10670715, -0.09398723,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.13078950e-05, 2.42691948e-05,-4.90508131e+00,-7.19459614e-03,
 -1.23555688e-03, 3.39253787e-07]


--- 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,
  9.50490986e-02,-7.00006041e-02, 1.30428572e-01, 9.99261235e-01,
  1.87952591e-04,-1.06202231e-04,-3.84309400e-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, -1.51017655,  3.0457936 , -0.306673  ,-41.17121489,
 -30.0834315 , -2.28983178]

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([ 6.23824011,  0.58237737,  6.2109964 ,  0.58237737, 40.08365529,
       -3.17353332,  6.2109964 , -3.17353332,  6.53580815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005767301627034455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92593736e-14, -9.62515138e-14,  1.00000000e+00,  9.55386497e-27,
        1.00000000e+00,  9.62515138e-14, -1.00000000e+00,  0.00000000e+00,
        9.92593736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10670131, -0.09398675,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.14311422e-05, 2.73749060e-05,-4.90502813e+00,-7.19786854e-03,
 -1.23655406e-03,-3.97697209e-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,
  9.50302760e-02,-6.99852550e-02, 1.30423067e-01, 9.99256884e-01,
  9.37631865e-05,-2.64766532e-04,-3.85434915e-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, -1.48985534,  2.98845293, -0.48338657,-40.50569559,
 -29.02019138, -2.60631776]

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([ 6.24176501,  0.91792931,  6.1738996 ,  0.91792931, 49.09414948,
       -6.3712503 ,  6.1738996 , -6.3712503 ,  7.18903623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005771526861070853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50848671e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.50848671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10669734, -0.09398773,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.37247915e-06, 4.36138246e-05,-4.90504221e+00,-7.19600807e-03,
 -1.23406229e-03, 2.07906578e-06]


--- 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,
  9.50182090e-02,-6.99761211e-02, 1.30420547e-01, 9.99252510e-01,
  3.63985786e-05,-3.64151218e-04,-3.86560215e-02]

qacc:
[ 2.21166322e+00, 2.60677679e-01,-8.43066516e-01, 1.28841972e+00,
  2.75763284e+00, 2.42168938e+00,-1.06844347e+01, 2.01009748e+01,
 -4.29530716e+00, 1.90442426e-01,-9.16703058e-01, 9.92053192e-01,
 -9.11025988e-01, 3.78732334e-01,-5.44829187e+00, 1.13826738e+01,
  1.68887513e+00,-1.55381109e+00, 7.46464886e-01, 1.72582254e+01,
  3.02774955e+01, 2.61559384e-03]

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([ 6.24519867, -3.06565891,  5.44097803, -3.06565891, 30.51148459,
       13.6725705 ,  5.44097803, 13.6725705 , 13.94885736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005775642516180207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80562561e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.80562561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08312617, -0.05726717,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.14638800e-05, 7.26490238e-05,-4.90511890e+00,-7.18906639e-03,
 -1.22830231e-03, 7.52982977e-06]


--- 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,
  9.50127716e-02,-6.99730341e-02, 1.30420111e-01, 9.99248106e-01,
  1.59206754e-05,-4.06903731e-04,-3.87692699e-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,  1.65743486, -1.51171049,  0.52075636, 17.3348487 ,
  29.00784939, -0.36722908]

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([ 6.29875316,  2.78502365, -5.64959597,  2.78502365, 38.73396931,
       15.9892574 , -5.64959597, 15.9892574 , 14.18081415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005839810647794569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75282116e-14,  9.50564232e-14,  1.00000000e+00, -4.51786180e-27,
        1.00000000e+00, -9.50564232e-14, -1.00000000e+00,  0.00000000e+00,
        4.75282116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313142, -0.05726484,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.57359056e-05, 4.68883723e-05,-4.90504895e+00,-7.18720269e-03,
 -1.22025180e-03, 6.65560242e-06]


--- 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,
  9.50138556e-02,-6.99758529e-02, 1.30420973e-01, 9.99243660e-01,
  3.23230014e-05,-3.95101287e-04,-3.88838103e-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,
  1.63032317e+00,-1.47645752e+00, 3.24522613e-01, 1.73684592e+01,
  2.79718590e+01,-6.54301556e-01]

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([ 6.3155137 ,  2.56329933, -5.77193294,  2.56329933, 49.79786396,
       19.31039057, -5.77193294, 19.31039057, 14.89120434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005859885996522818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8946154e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8946154e-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([ 0.08313497, -0.05726243,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.19539975e-06, 2.48492713e-05,-4.90501040e+00,-7.18742460e-03,
 -1.21576363e-03, 6.10051704e-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,
  9.50213687e-02,-6.99844604e-02, 1.30422453e-01, 9.99239149e-01,
  8.55601193e-05,-3.30430548e-04,-3.90000858e-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,  1.60728467, -1.44718751,  0.15479716, 17.37526408,
  27.13025207, -0.87626632]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005844265539940163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74919824e-14,  1.89967930e-13,  1.00000000e+00, -9.02195357e-27,
        1.00000000e+00, -1.89967930e-13, -1.00000000e+00,  0.00000000e+00,
        4.74919824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313716, -0.05725994,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -7.10158219e-06, 5.93472481e-06,-4.90500047e+00,-7.18977060e-03,
 -1.21468132e-03, 5.83470832e-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,
  9.50352339e-02,-6.99987605e-02, 1.30423969e-01, 9.99234543e-01,
  1.75568840e-04,-2.14253029e-04,-3.91184365e-02]

qacc:
[ 2.33095429e+00, 1.52475898e-01,-5.92283426e-01, 8.84558475e-01,
 -1.51206072e+00,-3.31155214e+00, 1.47339822e+01,-2.88343903e+01,
 -1.76959109e+00,-7.66449544e-01, 4.23644424e+00,-9.37617259e+00,
 -6.96218427e-01,-2.64055945e-01,-1.87223695e+00, 6.74624915e-01,
  1.58802090e+00,-1.42312876e+00, 8.63035428e-03, 1.73670893e+01,
  2.64507393e+01,-1.04696304e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005800161594495257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78531075e-14, -9.57062150e-14,  1.00000000e+00, -4.57983979e-27,
        1.00000000e+00,  9.57062150e-14, -1.00000000e+00,  0.00000000e+00,
       -4.78531075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313827, -0.05725738,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.41123608e-05,-1.02851438e-05,-4.90501709e+00,-7.19426555e-03,
 -1.21688024e-03, 5.83376602e-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,
  9.50430776e-02,-7.00006626e-02, 1.30424521e-01, 9.99229836e-01,
  1.83322952e-04,-1.57413196e-04,-3.92387012e-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, -1.50536529,  3.09947925, -0.24065821,-39.93542049,
 -31.25514755, -0.94421595]

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([ 6.25248378,  3.2739977 , -5.3267713 ,  3.2739977 , 24.79706316,
       11.39806963, -5.3267713 , 11.39806963, 13.25808842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005784373905648454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.09826985e-14, -1.91934865e-13,  1.00000000e+00,  9.78535736e-27,
        1.00000000e+00,  1.91934865e-13, -1.00000000e+00,  0.00000000e+00,
        5.09826985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10666491, -0.09400363,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.48114151e-05,-2.41155431e-05,-4.90505870e+00,-7.20092504e-03,
 -1.22226176e-03, 6.07877546e-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,
  9.50449865e-02,-6.99904358e-02, 1.30423366e-01, 9.99224993e-01,
  1.09704890e-04,-1.57282166e-04,-3.93621214e-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, -1.48372097,  3.03224383, -0.42701924,-39.54239829,
 -29.92933341, -1.56757958]

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([ 6.26297829, -1.36815441,  6.11171421, -1.36815441, 35.80560762,
        6.61334568,  6.11171421,  6.61334568,  7.74342678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000579695030056962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69322842e-14, -1.91518465e-13,  1.00000000e+00,  5.15802973e-27,
        1.00000000e+00,  1.91518465e-13, -1.00000000e+00,  0.00000000e+00,
        2.69322842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10665901, -0.09400647,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.38929942e-06,-1.04996496e-05,-4.90500538e+00,-7.19966347e-03,
 -1.23018930e-03, 2.73770214e-06]


--- 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,
  9.50410354e-02,-6.99683046e-02, 1.30419857e-01, 9.99219956e-01,
 -4.45074015e-05,-2.11736735e-04,-3.94896568e-02]

qacc:
[  1.61769796, -0.23024845,  1.94188442, -5.9386266 ,  2.38316185,
   0.66465874, -4.61478928, 11.7810846 ,  0.59745542,  0.87396668,
  -4.67873728, 10.53952844, -2.40727581,  5.21540995, -3.68326147,
   6.45418849, -1.46499008,  2.97607936, -0.58843543,-39.19189535,
 -28.85806854, -2.05051028]

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([ 6.24346387, -1.02955422,  6.15799149, -1.02955422, 45.56617435,
        6.57436152,  6.15799149,  6.57436152,  7.34263097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005773563174021057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61471271e-14,  9.61471271e-14,  1.00000000e+00, -9.24427005e-27,
        1.00000000e+00, -9.61471271e-14, -1.00000000e+00,  0.00000000e+00,
        9.61471271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10665499, -0.09401009,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.76521784e-05, 1.41172303e-05,-4.90501611e+00,-7.19354893e-03,
 -1.23456370e-03, 2.48102690e-06]


--- 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,
  9.50437243e-02,-6.99522918e-02, 1.30418792e-01, 9.99214900e-01,
 -1.61845671e-04,-2.06787538e-04,-3.96171127e-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,  1.66001125, -1.5295781 ,  0.61112774, 17.2497203 ,
  30.40678189,  0.03673255]

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([ 6.28936775, -3.18749286,  5.42181113, -3.18749286, 27.91791855,
       12.71546531,  5.42181113, 12.71546531, 13.7648135 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005828567884863661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52397782e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52397782e-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([ 0.08315399, -0.05724721,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.57771753e-05, 4.99910099e-05,-4.90508718e+00,-7.18257020e-03,
 -1.23563680e-03, 5.10531496e-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,
  9.50462828e-02,-6.99472344e-02, 1.30418531e-01, 9.99209996e-01,
 -1.99056989e-04,-1.89797168e-04,-3.97405077e-02]

qacc:
[ 5.16300062e-01, 1.76988920e-01,-1.54880840e-01,-1.93039358e+00,
  2.05661210e+00, 2.36602816e-01, 1.42735703e+00,-7.77431364e+00,
 -3.66954611e+00, 7.82655414e-01,-6.19012842e-01,-4.47414780e+00,
 -1.49458118e+00, 2.49483135e+00,-4.30589656e+00, 8.83303707e+00,
 -3.26008889e-02,-2.73886514e+00, 2.00818927e-01, 3.97939365e+01,
  7.60274608e+00, 2.02463789e+00]

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([ 6.32172627,  6.00437873,  1.97779148,  6.00437873,  8.80347122,
       -7.53433147,  1.97779148, -7.53433147, 29.19520925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005867326691955758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.14297418e-08,  5.14295851e-08,  1.00000000e+00, -2.64501028e-15,
        1.00000000e+00, -5.14295851e-08, -1.00000000e+00,  0.00000000e+00,
        5.14297418e-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([ 0.09495339, -0.0468099 ,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.66095977e-05, 1.82467104e-05,-4.90504138e+00,-7.17701897e-03,
 -1.23360063e-03, 2.56923606e-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,
  9.50485544e-02,-6.99530450e-02, 1.30418202e-01, 9.99205228e-01,
 -1.56648002e-04,-1.63954740e-04,-3.98605122e-02]

qacc:
[ 2.59648224e-01, 1.57779439e+00,-6.24258680e+00, 1.07455357e+01,
  4.31190343e+00, 1.39391582e+00,-4.33400887e+00, 6.30893278e+00,
 -2.14118373e+00,-1.21956460e+00, 5.14143503e+00,-8.45901674e+00,
 -1.12120399e+00, 1.23328833e+00,-3.52977202e+00, 5.73030907e+00,
 -7.17359554e-02,-2.71698051e+00,-1.67084435e-02, 3.96031450e+01,
  6.00428357e+00, 1.68984640e+00]

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([ 6.33841435, -1.42787131, -6.17549026, -1.42787131, 43.48768393,
       -8.58950042, -6.17549026, -8.58950042,  8.3244431 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005887312603700401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42894576e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.42894576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09531387, -0.04649678,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.36042057e-05, 5.06453865e-06,-4.90500326e+00,-7.17512847e-03,
 -1.22975545e-03, 2.20198600e-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,
  9.50507583e-02,-6.99694146e-02, 1.30417213e-01, 9.99200545e-01,
 -3.71099701e-05,-1.29366203e-04,-3.99781622e-02]

qacc:
[ 1.18180051e-01, 2.51173817e-01, 3.96395716e-01,-3.67618080e+00,
  2.63110108e+00, 1.24185355e-01,-2.66011963e+00, 1.09906485e+01,
 -1.23740972e+00,-1.16587392e+00, 4.20653173e+00,-5.79601565e+00,
 -1.72667786e+00, 3.00722802e+00,-2.34751386e+00, 1.12613171e+00,
 -1.69200791e-02,-2.63978173e+00,-1.65204417e-01, 3.83597601e+01,
  5.90660323e+00, 1.17244653e+00]

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([  6.32388228,  -2.25287581,  -5.90897941,  -2.25287581,
        46.70742472, -15.3967546 ,  -5.90897941, -15.3967546 ,
        12.19409667,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005869908844317002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13644817e-06,  1.13644799e-06,  1.00000000e+00, -1.29151424e-12,
        1.00000000e+00, -1.13644799e-06, -1.00000000e+00,  2.01948392e-28,
        1.13644817e-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([ 0.09496351, -0.04680989,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.81468417e-05, 3.03547507e-06,-4.90500595e+00,-7.17800445e-03,
 -1.22698451e-03, 2.38159641e-06]


--- 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,
  9.50594045e-02,-6.99915897e-02, 1.30416650e-01, 9.99195760e-01,
  1.18239698e-04,-4.38618692e-05,-4.00976082e-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,  1.61057758, -1.45134655,  0.10645185, 16.87362516,
  26.15341471, -0.90072069]

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([  6.29271406,  -4.24275727,  -4.64728534,  -4.24275727,
        21.54809915, -13.9274633 ,  -4.64728534, -13.9274633 ,
        19.00784598,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005832576528846528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75871606e-14, -9.51743213e-14,  1.00000000e+00, -4.52907571e-27,
        1.00000000e+00,  9.51743213e-14, -1.00000000e+00,  0.00000000e+00,
       -4.75871606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316501, -0.0572353 ,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.83073349e-05, 1.02986284e-05,-4.90504698e+00,-7.18558454e-03,
 -1.22529424e-03, 2.98428815e-06]


--- 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,
  9.50619546e-02,-7.00011346e-02, 1.30415935e-01, 9.99190868e-01,
  1.88391958e-04,-1.95748420e-05,-4.02190792e-02]

qacc:
[-4.86035884e+00, 6.27285516e-01,-4.76923171e+00, 1.38724065e+01,
  8.12132769e-01, 1.38123324e+00,-4.49068181e+00, 4.99082640e+00,
 -3.40377752e+00,-9.58534763e-01, 4.54607704e+00,-9.37210443e+00,
 -7.54306949e-01,-6.69262651e-02, 3.67648226e+00,-1.91335621e+01,
 -1.52401948e+00, 3.15754012e+00,-3.79006066e-02,-4.13371487e+01,
 -3.22922652e+01,-1.00839470e+00]

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([ 6.32689473,  3.4377512 , -5.31144648,  3.4377512 , 25.59881005,
       12.47344772, -5.31144648, 12.47344772, 14.40013995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000587351668361713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74643945e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.74643945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10661675, -0.09402254,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.02205519e-05, 3.60400541e-07,-4.90509297e+00,-7.19629584e-03,
 -1.22894493e-03, 4.37815595e-06]


--- 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,
  9.50585074e-02,-6.99983517e-02, 1.30414206e-01, 9.99185841e-01,
  1.74749204e-04,-5.35274542e-05,-4.03437999e-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, -1.4993403 ,  3.08195085, -0.25377251,-40.69245377,
 -30.78164465, -1.61986836]

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([ 6.36584231, -0.65752763,  6.33179325, -0.65752763, 33.3623026 ,
        2.80345832,  6.33179325,  2.80345832,  6.65696857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005920158780474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05113829e-14, -2.81298965e-13,  1.00000000e+00, -5.76983077e-27,
        1.00000000e+00,  2.81298965e-13, -1.00000000e+00,  0.00000000e+00,
       -2.05113829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10660967, -0.09402332,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.92728450e-05, 6.61430446e-06,-4.90501595e+00,-7.19888947e-03,
 -1.23513654e-03, 1.13599733e-06]


--- 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,
  9.50491486e-02,-6.99834961e-02, 1.30410710e-01, 9.99180631e-01,
  7.85282116e-05,-1.43309560e-04,-4.04727108e-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, -1.47790487,  3.01817976, -0.44130256,-40.12941249,
 -29.55815069, -2.09004826]

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([ 6.36772079, -0.35069175,  6.35805657, -0.35069175, 41.98778525,
        1.96469825,  6.35805657,  1.96469825,  6.47608778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005922408314849165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39362684e-14,  1.87461412e-13,  1.00000000e+00,  8.23635491e-27,
        1.00000000e+00, -1.87461412e-13, -1.00000000e+00,  0.00000000e+00,
       -4.39362684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10660475, -0.09402538,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.39371308e-06, 2.48226000e-05,-4.90500716e+00,-7.19648553e-03,
 -1.23762073e-03, 1.19611381e-06]


--- 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,
  9.50339514e-02,-6.99567812e-02, 1.30404800e-01, 9.99175169e-01,
 -9.92317304e-05,-2.86978250e-04,-4.06065302e-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,
 -1.45957360e+00, 2.96481664e+00,-6.03769924e-01,-3.96459441e+01,
 -2.85714785e+01,-2.44934433e+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([ 6.33976587e+00,  3.04155383e-02,  6.33969290e+00,  3.04155383e-02,
        5.25846070e+01, -2.21865911e-01,  6.33969290e+00, -2.21865911e-01,
        6.34083030e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005888931148941567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.42635426e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.42635426e-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([ 0.10660153, -0.09402847,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.24870726e-05, 5.50283829e-05,-4.90506171e+00,-7.18909994e-03,
 -1.23667960e-03, 4.29740013e-06]


--- 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,
  9.50255470e-02,-6.99364119e-02, 1.30402548e-01, 9.99169703e-01,
 -2.40032199e-04,-3.68721954e-04,-4.07395443e-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,  1.6981887 , -1.58639767,  0.91457666, 17.20733073,
  31.68731216,  0.40003455]

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([ 6.44199934, -3.2309847 ,  5.57315829, -3.2309847 , 29.8677914 ,
       13.58087672,  5.57315829, 13.58087672, 14.31538147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006011371523588355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38515356e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.38515356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0831887 , -0.05722022,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.62754457e-05, 9.71241248e-05,-4.90517589e+00,-7.17675538e-03,
 -1.23252542e-03, 1.02420453e-05]


--- 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,
  9.50238018e-02,-6.99221934e-02, 1.30402936e-01, 9.99164228e-01,
 -3.43852013e-04,-3.91651911e-04,-4.08726448e-02]

qacc:
[-3.91775811e-01,-1.87407956e+00, 9.53243468e+00,-2.27563746e+01,
  2.49966783e+00, 8.59819468e-01,-3.14598959e+00, 4.67080554e+00,
 -1.88399683e+00,-1.32911925e+00, 4.83112341e+00,-7.70623245e+00,
 -2.02865192e+00, 4.08693064e+00,-1.49132644e+01, 4.50508048e+01,
  1.66479857e+00,-1.53769856e+00, 6.59844972e-01, 1.72769349e+01,
  3.01357539e+01,-4.31877222e-02]

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([ 6.50676735,  2.68178289, -5.92841141,  2.68178289, 31.98732988,
       11.52641608, -5.92841141, 11.52641608, 11.72086996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006088997725646472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36749479e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.36749479e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319549, -0.05721776,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.06018203e-05, 6.08771788e-05,-4.90508944e+00,-7.17011730e-03,
 -1.22495698e-03, 7.72686872e-06]


--- 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,
  9.50286003e-02,-6.99139617e-02, 1.30405078e-01, 9.99158730e-01,
 -4.10744211e-04,-3.58298133e-04,-4.10065230e-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,
  1.63592689e+00,-1.49672266e+00, 4.38592692e-01, 1.72979883e+01,
  2.88731407e+01,-3.86500334e-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([ 6.52962613,  2.50401936, -6.03041495,  2.50401936, 40.7549856 ,
       14.21145369, -6.03041495, 14.21145369, 12.43067199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000611641544109226
  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([ 0.08320019, -0.05721518,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.11703388e-05, 2.91408104e-05,-4.90503642e+00,-7.16551181e-03,
 -1.22114740e-03, 5.61304347e-06]


--- 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,
  9.50330661e-02,-6.99165675e-02, 1.30407231e-01, 9.99153393e-01,
 -3.97012630e-04,-3.15860377e-04,-4.11368330e-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,
 -8.31848551e-02,-2.70934858e+00, 2.93061673e-03, 4.00923972e+01,
  6.19051528e+00, 1.77333003e+00]

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([ 6.53585723,  5.87385202,  2.86623309,  5.87385202, 10.7976246 ,
       -8.73375963,  2.86623309, -8.73375963, 24.43419628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006123891635643752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53234271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.53234271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09537734, -0.04650219,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.80422163e-05, 1.10595070e-06,-4.90501339e+00,-7.16298742e-03,
 -1.22089985e-03, 3.84982992e-06]


--- 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,
  9.50372335e-02,-6.99298245e-02, 1.30408686e-01, 9.99148181e-01,
 -3.04332065e-04,-2.65852118e-04,-4.12643821e-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,-0.07460485,-2.66279507,
 -0.17476674,39.28582055, 5.40537328, 1.37084929]

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([  6.51204437,  -2.66953018,  -5.93972478,  -2.66953018,
        42.14965913, -16.01685126,  -5.93972478, -16.01685126,
        13.71060483,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006095326042123428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55358342e-14, -9.10716684e-14,  1.00000000e+00, -4.14702440e-27,
        1.00000000e+00,  9.10716684e-14, -1.00000000e+00,  0.00000000e+00,
       -4.55358342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09538221, -0.04650179,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.02571663e-06,-4.33970037e-06,-4.90500234e+00,-7.16408379e-03,
 -1.21857295e-03, 3.97483309e-06]


--- 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,
  9.50411301e-02,-6.99535772e-02, 1.30408830e-01, 9.99143044e-01,
 -1.34083263e-04,-2.09462500e-04,-4.13898007e-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, -0.06768087, -2.623933  , -0.32759077, 38.61971504,
   4.78805081,  1.05655313]

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([  6.4628495 ,  -2.96419645,  -5.74299252,  -2.96419645,
        50.13666864, -22.54186808,  -5.74299252, -22.54186808,
        18.09764184,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006036353173942272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.5980702e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.5980702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09538609, -0.04650018,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.23548432e-05, 4.58896434e-07,-4.90503126e+00,-7.16995986e-03,
 -1.21726599e-03, 4.53236871e-06]


--- 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,
  9.50514104e-02,-6.99830897e-02, 1.30409043e-01, 9.99137777e-01,
  7.18114256e-05,-1.03674528e-04,-4.15173119e-02]

qacc:
[ 2.67309115e-01, 1.26668984e+00,-5.82685665e+00, 1.23367757e+01,
  6.15437878e-01, 6.26022122e-01,-9.34332416e-01,-2.99820638e+00,
 -1.87648030e+00, 1.38059948e+00,-2.51227194e+00,-3.25078232e+00,
  2.07687221e-01,-3.06477389e+00,-2.10867351e+00, 1.29782477e+00,
  1.59591839e+00,-1.43996022e+00, 1.73456046e-02, 1.67851483e+01,
  2.54158262e+01,-1.04846820e+00]

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([  6.39938505,  -4.54837157,  -4.50160473,  -4.54837157,
        20.15499427, -13.89851524,  -4.50160473, -13.89851524,
        20.44229096,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005960328345692711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.31343846e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.31343846e-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([ 0.08320415, -0.05720186,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.53995332e-05, 1.47771276e-05,-4.90509782e+00,-7.18054940e-03,
 -1.21680688e-03, 5.45282007e-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,
  9.50555936e-02,-6.99998028e-02, 1.30409510e-01, 9.99132413e-01,
  1.91967797e-04,-6.08040534e-05,-4.16458987e-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, -1.52428915,  3.19985087,  0.06323755,-41.52616615,
 -33.21148104, -0.53269103]

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([ 6.35943628,  3.46839446, -5.33035361,  3.46839446, 25.99345464,
       12.77561032, -5.33035361, 12.77561032, 14.67236621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005912487369005154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40831974e-13, -9.38879828e-14,  1.00000000e+00,  1.32224300e-26,
        1.00000000e+00,  9.38879828e-14, -1.00000000e+00,  0.00000000e+00,
        1.40831974e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10654759, -0.0940519 ,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.00946108e-04, 7.17932813e-06,-4.90516078e+00,-7.19437648e-03,
 -1.22166368e-03, 7.41433448e-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,
  9.50537818e-02,-7.00040457e-02, 1.30409307e-01, 9.99126931e-01,
  2.27851642e-04,-7.75179607e-05,-4.17769921e-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, -1.49871808,  3.11756245, -0.1673657 ,-40.85904877,
 -31.52139034, -1.2463808 ]

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([ 6.41231478, -0.85826761,  6.35461703, -0.85826761, 29.17708563,
        3.07465663,  6.35461703,  3.07465663,  6.82758421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005975813875959413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90290747e-15, -9.28930391e-14,  1.00000000e+00,  2.69659898e-28,
        1.00000000e+00,  9.28930391e-14, -1.00000000e+00,  0.00000000e+00,
        2.90290747e-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([ 0.10653927, -0.0940524 ,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.38005285e-05, 8.30234606e-06,-4.90504850e+00,-7.19983701e-03,
 -1.22947069e-03, 2.68752020e-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,
  9.50460646e-02,-6.99960966e-02, 1.30407633e-01, 9.99121291e-01,
  1.80744957e-04,-1.51117643e-04,-4.19116944e-02]

qacc:
[-3.11436623e-02,-1.11431298e+00, 4.33556147e+00,-7.37896202e+00,
 -2.88982169e+00, 3.05101430e+00,-1.37613012e+01, 2.71434941e+01,
  2.90604791e+00,-1.08805260e+00, 2.79225329e+00, 3.93913920e-01,
 -2.53686602e+00, 5.35055336e+00,-1.37611561e+00,-2.74181414e-01,
 -1.47637009e+00, 3.04798783e+00,-3.67725456e-01,-4.02709008e+01,
 -3.01520198e+01,-1.79644596e+00]

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([ 6.42475582, -0.58737616,  6.39784938, -0.58737616, 36.76091784,
        2.78511378,  6.39784938,  2.78511378,  6.6804526 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005990715314798944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92266742e-14, -1.85323950e-13,  1.00000000e+00,  9.12288170e-27,
        1.00000000e+00,  1.85323950e-13, -1.00000000e+00,  0.00000000e+00,
        4.92266742e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10653336, -0.09405425,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.51362923e-05, 2.11333051e-05,-4.90500698e+00,-7.20032383e-03,
 -1.23336794e-03, 1.41983291e-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,
  9.50325188e-02,-6.99761891e-02, 1.30403794e-01, 9.99115431e-01,
  5.17515695e-05,-2.79425847e-04,-4.20508499e-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, -1.45714838,  2.98961871, -0.54124501,-39.76122741,
 -29.04664914, -2.21813386]

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([ 6.40455158, -0.24377589,  6.39991049, -0.24377589, 46.31213197,
        1.52010034,  6.39991049,  1.52010034,  6.46245299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000596651600220488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36114679e-14,  9.30377983e-14,  1.00000000e+00,  4.05751496e-27,
        1.00000000e+00, -9.30377983e-14, -1.00000000e+00,  0.00000000e+00,
       -4.36114679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10652938, -0.09405721,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.70765329e-05, 4.58564785e-05,-4.90503068e+00,-7.19584272e-03,
 -1.23368664e-03, 3.31200648e-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,
  9.50256333e-02,-6.99625565e-02, 1.30402895e-01, 9.99109580e-01,
 -4.08975940e-05,-3.46845202e-04,-4.21891681e-02]

qacc:
[-3.78928932e+00,-3.44643977e-01,-2.26517056e+00, 1.28537888e+01,
  3.85168771e+00,-8.22347432e-01, 2.94957249e+00,-6.08103080e+00,
  2.31855518e-02, 1.06144526e+00,-4.16397330e+00, 6.59467659e+00,
 -1.47624155e+00, 2.26919918e+00,-6.98231720e+00, 1.81756503e+01,
  1.66505759e+00,-1.56873591e+00, 7.34891608e-01, 1.68759406e+01,
  3.11816704e+01, 4.11770688e-01]

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([ 6.41757744, -3.19983311,  5.56294601, -3.19983311, 27.6449691 ,
       12.21009705,  5.56294601, 12.21009705, 13.44088357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005982117139885224
  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([ 0.08322347, -0.05718419,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.43418952e-05, 8.24546817e-05,-4.90511538e+00,-7.18641065e-03,
 -1.23067632e-03, 8.13626514e-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,
  9.50252922e-02,-6.99550211e-02, 1.30404019e-01, 9.99103719e-01,
 -9.70455601e-05,-3.56325546e-04,-4.23275506e-02]

qacc:
[ 8.20206014e-01,-1.02018785e+00, 2.88931354e+00,-2.53578397e+00,
 -6.75426792e-01, 2.74646763e-01,-1.62611440e+00, 4.21137014e+00,
  2.02425583e-02,-1.44390902e+00, 4.62222333e+00,-4.49077306e+00,
 -1.79841023e+00, 3.25531468e+00,-6.58009964e+00, 1.62674747e+01,
  1.63612776e+00,-1.52430854e+00, 5.05817849e-01, 1.70121375e+01,
  2.97136883e+01,-3.74171896e-02]

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([ 6.45823   ,  2.7118926 , -5.86126038,  2.7118926 , 32.91682298,
       12.24188277, -5.86126038, 12.24188277, 12.12231403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006030817776351838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20458108e-14,  1.84091622e-13,  1.00000000e+00, -1.69448626e-26,
        1.00000000e+00, -1.84091622e-13, -1.00000000e+00,  0.00000000e+00,
        9.20458108e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08322969, -0.05718119,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.55373768e-05, 4.88879459e-05,-4.90504688e+00,-7.18274535e-03,
 -1.22407242e-03, 6.44701896e-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,
  9.50313960e-02,-6.99534345e-02, 1.30406372e-01, 9.99097828e-01,
 -1.16625811e-04,-3.10256802e-04,-4.24666970e-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,  1.61119722, -1.48717854,  0.30730708, 17.09170429,
  28.52359245, -0.38612191]

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([ 6.46240331,  2.52074432, -5.95050456,  2.52074432, 41.93028706,
       15.0248547 , -5.95050456, 15.0248547 , 12.82721099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006035818501368972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59847751e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.59847751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08323395, -0.0571782 ,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.30647889e-05, 1.96740551e-05,-4.90501041e+00,-7.18108345e-03,
 -1.22114941e-03, 5.09281749e-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,
  9.50438600e-02,-6.99576734e-02, 1.30409270e-01, 9.99091876e-01,
 -9.96283234e-05,-2.10567692e-04,-4.26071484e-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,  1.59006599, -1.45638484,  0.13612819, 17.13362341,
  27.56273038, -0.65571887]

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([ 6.43723305,  2.26318854, -6.0262714 ,  2.26318854, 53.80619438,
       17.78958887, -6.0262714 , 17.78958887, 13.11817904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000600566159581678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38647051e-13,  9.24313672e-14,  1.00000000e+00, -1.28153365e-26,
        1.00000000e+00, -9.24313672e-14, -1.00000000e+00,  0.00000000e+00,
        1.38647051e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08323666, -0.0571752 ,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.95337234e-06,-5.95225446e-06,-4.90500288e+00,-7.18147993e-03,
 -1.22172484e-03, 4.03889490e-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,
  9.50626139e-02,-6.99676366e-02, 1.30412124e-01, 9.99085827e-01,
 -4.60747695e-05,-5.88061386e-05,-4.27493207e-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,
  1.57248221e+00,-1.43107956e+00,-1.08725216e-02, 1.71519196e+01,
  2.67914283e+01,-8.62975170e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947658781762788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33327773e-14,  9.33327773e-14,  1.00000000e+00, -8.71100731e-27,
        1.00000000e+00, -9.33327773e-14, -1.00000000e+00,  0.00000000e+00,
        9.33327773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08323814, -0.05717219,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27766825e-05,-2.85416456e-05,-4.90502200e+00,-7.18397163e-03,
 -1.22565403e-03, 3.25676723e-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,
  9.50784715e-02,-6.99878586e-02, 1.30413585e-01, 9.99080003e-01,
  8.80735697e-05, 8.05151114e-05,-4.28851281e-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, -0.72408792, -2.56471316, -0.34835229, 40.52665388,
  -4.49191914,  3.18163886]

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([ 6.33540574,  5.78402259,  2.58504326,  5.78402259,  9.75801818,
       -7.65807983,  2.58504326, -7.65807983, 23.47032469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005883709550796867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43471984e-14,  1.88694397e-13,  1.00000000e+00, -1.78027877e-26,
        1.00000000e+00, -1.88694397e-13, -1.00000000e+00,  0.00000000e+00,
        9.43471984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1004333 , -0.04669806,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.61184022e-05,-4.84874697e-05,-4.90506611e+00,-7.18858287e-03,
 -1.23282295e-03, 2.72420781e-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,
  9.50883716e-02,-6.99954418e-02, 1.30414682e-01, 9.99074110e-01,
  1.38391955e-04, 1.58282158e-04,-4.30218492e-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 , -1.48935664,  3.15971172, -0.09082256,-40.55649608,
 -32.54635416, -0.45854665]

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([ 6.36668638,  0.119761  , -6.3655599 ,  0.119761  , 41.66865632,
        0.66416769, -6.3655599 ,  0.66416769,  6.37918197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005921169582482899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.32424334e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.32424334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10648346, -0.0940844 ,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.58911556e-05,-2.75321047e-05,-4.90510519e+00,-7.19599940e-03,
 -1.23680431e-03, 3.75964134e-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,
  9.50924057e-02,-6.99906887e-02, 1.30414578e-01, 9.99068110e-01,
  1.05999226e-04, 1.77648975e-04,-4.31609593e-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, -1.46651178,  3.08407731, -0.30044231,-40.06082702,
 -30.95242787, -1.19818754]

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([ 6.39381364, -1.19265631,  6.28159405, -1.19265631, 30.04915086,
        4.49132609,  6.28159405,  4.49132609,  7.24656031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005953655950015763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95330925e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.95330925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10647585, -0.09408649,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.75873313e-05,-1.61758165e-05,-4.90501974e+00,-7.19696636e-03,
 -1.24684488e-03,-1.02943426e-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,
  9.50906537e-02,-6.99738533e-02, 1.30412546e-01, 9.99061949e-01,
 -8.11986340e-06, 1.41163715e-04,-4.33036006e-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, -1.44653766,  3.02059126, -0.48208972,-39.61946405,
 -29.66388166, -1.7717035 ]

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([ 6.38584715, -0.91032497,  6.3206291 , -0.91032497, 37.98900164,
        4.55162616,  6.3206291 ,  4.55162616,  7.04139249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005944115421599311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.29596985e-14, -2.80165242e-13,  1.00000000e+00,  2.04407716e-26,
        1.00000000e+00,  2.80165242e-13, -1.00000000e+00,  0.00000000e+00,
        7.29596985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1064705 , -0.0940896 ,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.30105665e-05, 5.99530715e-06,-4.90500205e+00,-7.19307367e-03,
 -1.25309533e-03,-2.53475513e-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,
  9.50831842e-02,-6.99451469e-02, 1.30407957e-01, 9.99055552e-01,
 -2.03116273e-04, 5.08779368e-05,-4.34506534e-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, -1.42934226,  2.96772929, -0.63911501,-39.23553879,
 -28.62613107, -2.21473543]

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([ 6.34976998, -0.55344361,  6.32560503, -0.55344361, 48.05988817,
        3.64932654,  6.32560503,  3.64932654,  6.66905903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005900911636104872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.34938762e-14, -9.40721615e-14,  1.00000000e+00,  6.91372779e-27,
        1.00000000e+00,  9.40721615e-14, -1.00000000e+00,  0.00000000e+00,
        7.34938762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10646694, -0.09409354,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.77581646e-05, 3.93494681e-05,-4.90504736e+00,-7.18430447e-03,
 -1.25586737e-03,-1.01363369e-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,
  9.50724126e-02,-6.99277850e-02, 1.30405412e-01, 9.99049531e-01,
 -3.14901789e-04,-4.70756923e-05,-4.35882207e-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, -0.82555598, -2.83612985,  0.51110688, 41.73253693,
  -2.02349313,  4.74775869]

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([ 6.44034795, -0.7645039 ,  6.39481161, -0.7645039 , 32.52260558,
        3.11815092,  6.39481161,  3.11815092,  6.81312493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006009393160079091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.23739715e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.23739715e-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([ 0.10046954, -0.04670819,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.80325515e-05, 8.40190731e-05,-4.90515206e+00,-7.17065632e-03,
 -1.25539605e-03, 3.33842397e-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,
  9.50584574e-02,-6.99214788e-02, 1.30403898e-01, 9.99043848e-01,
 -3.45526119e-04,-1.54788934e-04,-4.37177970e-02]

qacc:
[  1.47558958, -0.49473364,  1.52001036, -1.80924283, -3.22958282,
   1.02456056, -6.01791174, 15.06315139, -2.93761859, -0.06243251,
   1.86403914, -9.03495589, -1.39516529,  1.91395878,-11.87673954,
  34.88708847, -0.79587861, -2.76392012,  0.25765976, 40.75496636,
  -3.10758234,  3.99561048]

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([ 6.49846256, -1.30383958, -6.36631902, -1.30383958, 30.70508117,
       -4.95758184, -6.36631902, -4.95758184,  7.5137889 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006079039739021325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13156578e-14, -9.13156578e-14,  1.00000000e+00,  8.33854935e-27,
        1.00000000e+00,  9.13156578e-14, -1.00000000e+00,  0.00000000e+00,
        9.13156578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1004773 , -0.04671053,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.04399862e-05, 6.48165687e-05,-4.90507786e+00,-7.16419925e-03,
 -1.24288153e-03, 2.74317908e-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,
  9.50441063e-02,-6.99262413e-02, 1.30402857e-01, 9.99038337e-01,
 -2.97210024e-04,-2.53046284e-04,-4.38434642e-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, -0.0989919 , -2.76715592,  0.11826491, 39.22610936,
   6.44831378,  1.95196231]

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([  6.51771714,  -4.13810803,  -5.03554353,  -4.13810803,
        25.79236374, -15.83951554,  -5.03554353, -15.83951554,
        19.53431131,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006102129700525233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36455190e-13, -9.09701268e-14,  1.00000000e+00,  1.24133459e-26,
        1.00000000e+00,  9.09701268e-14, -1.00000000e+00,  0.00000000e+00,
        1.36455190e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.095507  , -0.04650095,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.87918335e-06, 5.68526307e-05,-4.90504930e+00,-7.16268154e-03,
 -1.23089124e-03, 2.28551679e-06]


--- 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,
  9.50293883e-02,-6.99418466e-02, 1.30401506e-01, 9.99032948e-01,
 -1.71194463e-04,-3.43521852e-04,-4.39661308e-02]

qacc:
[ -3.29916014,  0.55845092, -2.23396364,  4.39877154,  1.81565554,
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   1.30613156,  1.4813616 , -2.07877163,  3.88147235,  4.89495443,
 -22.66483266, -0.09171264, -2.71072763, -0.07756561, 38.64218149,
   5.59002562,  1.49291539]

qfrc_actuator:
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  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([ 6.50828338, -0.53294311, -6.48642615, -0.53294311, 48.65540284,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006090815720837528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36708662e-13, -9.11391081e-14,  1.00000000e+00,  1.24595055e-26,
        1.00000000e+00,  9.11391081e-14, -1.00000000e+00,  0.00000000e+00,
        1.36708662e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09551228, -0.04649943,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.56657206e-05, 5.24554131e-05,-4.90504733e+00,-7.16640588e-03,
 -1.22039658e-03, 1.86814836e-06]


--- 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,
  9.50211948e-02,-6.99634794e-02, 1.30401535e-01, 9.99027486e-01,
 -9.43613807e-06,-3.81761128e-04,-4.40900872e-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, 1.6311132 ,-1.50684624,
  0.3449848 ,16.70555736,26.87872203,-0.64757902]

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([  6.49595154,  -4.14312062,  -5.00319277,  -4.14312062,
        25.68386957, -15.88942554,  -5.00319277, -15.88942554,
        19.65391081,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006076029164340524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13609032e-14,  9.13609032e-14,  1.00000000e+00, -8.34681463e-27,
        1.00000000e+00, -9.13609032e-14, -1.00000000e+00,  0.00000000e+00,
        9.13609032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08327858, -0.0571371 ,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.97776600e-05, 5.84178034e-05,-4.90508520e+00,-7.17480310e-03,
 -1.21091334e-03, 1.91374450e-06]


--- 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,
  9.50194145e-02,-6.99910135e-02, 1.30402224e-01, 9.99021918e-01,
  1.88340986e-04,-3.69038605e-04,-4.42157887e-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, 1.60329508,-1.47534827,
  0.16529344,16.86809717,26.25014287,-0.8807205 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006045143469709524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.5913841e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.5913841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08327921, -0.05713339,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.79335761e-05, 4.75678700e-05,-4.90509212e+00,-7.18623376e-03,
 -1.20698647e-03, 4.22899427e-06]


--- 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,
  9.50239544e-02,-7.00243473e-02, 1.30402959e-01, 9.99016203e-01,
  4.22338650e-04,-3.06394660e-04,-4.43435886e-02]

qacc:
[ 2.34107576e+00, 3.21735804e+00,-1.35107807e+01, 2.63801957e+01,
 -2.68715669e+00, 8.99747033e-02,-1.80305145e+00, 5.40873006e+00,
 -2.11930643e+00,-2.11708659e-01, 5.42445696e-02, 2.30558045e+00,
 -1.08479643e+00, 1.08486723e+00,-2.91638248e+00, 4.55473650e+00,
  1.58005763e+00,-1.44991142e+00, 1.12191463e-02, 1.69885261e+01,
  2.57368333e+01,-1.06272118e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005985958320691709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.85471225e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.85471225e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08327905, -0.05712981,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.97508348e-05, 3.93498171e-05,-4.90512445e+00,-7.19975331e-03,
 -1.20618794e-03, 6.71887140e-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,
  9.50224143e-02,-7.00447973e-02, 1.30404141e-01, 9.99010394e-01,
  5.70438068e-04,-3.06260509e-04,-4.44726056e-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, -1.51998778,  3.2209245 ,  0.11173239,-41.52108317,
 -33.12893865, -0.58372885]

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([ 6.50725598,  3.47082868, -5.50433726,  3.47082868, 27.18689587,
       13.03980549, -5.50433726, 13.03980549, 14.72966837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006089583680802396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56380602e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.56380602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10641044, -0.09410406,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.05238643e-04, 3.35238944e-05,-4.90518107e+00,-7.21539285e-03,
 -1.20844831e-03, 9.39041212e-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,
  9.50149015e-02,-7.00527110e-02, 1.30404803e-01, 9.99004469e-01,
  6.34162277e-04,-3.65367126e-04,-4.46042115e-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,
 -1.49319359e+00, 3.13410272e+00,-1.29845248e-01,-4.08289234e+01,
 -3.14680208e+01,-1.26596260e+00]

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([ 6.55616856, -1.04645865,  6.47211483, -1.04645865, 29.18737594,
        3.6591784 ,  6.47211483,  3.6591784 ,  7.14781116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006148269352977548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53933430e-14, -1.80574884e-13,  1.00000000e+00,  4.58539997e-27,
        1.00000000e+00,  1.80574884e-13, -1.00000000e+00,  0.00000000e+00,
        2.53933430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10640252, -0.09410488,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.02458743e-05, 3.12427982e-05,-4.90507061e+00,-7.22268831e-03,
 -1.21369784e-03, 5.73154899e-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,
  9.50015087e-02,-7.00483815e-02, 1.30404109e-01, 9.98998384e-01,
  6.14843629e-04,-4.81067719e-04,-4.47394592e-02]

qacc:
[ -1.3380399 , -1.86324247,  6.98884866, -9.39563558, -3.57796699,
  -2.28925318,  7.42441233, -8.08225238, -3.19067277, -2.04967424,
   8.07139975,-11.44026651, -0.83420787,  0.17198405, -7.81004538,
  21.18954501, -1.4699711 ,  3.06078419, -0.33920746,-40.21854257,
 -30.12203197, -1.7894974 ]

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([ 6.56354554, -0.76062933,  6.51932305, -0.76062933, 37.07041967,
        3.55933018,  6.51932305,  3.55933018,  6.97882346,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0006157126389758072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22613578e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.22613578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10639697, -0.09410709,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.36739923e-05, 4.10454562e-05,-4.90503023e+00,-7.22499799e-03,
 -1.21503211e-03, 5.53145610e-06]


--- 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,
  9.49823154e-02,-7.00320548e-02, 1.30401334e-01, 9.98992079e-01,
  5.13630225e-04,-6.51227544e-04,-4.48791515e-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, -1.45015756,  2.99932287, -0.52007913,-39.68912787,
 -29.03572563, -2.18852112]

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([ 6.53748724, -0.39593514,  6.52548656, -0.39593514, 47.09398368,
        2.46077314,  6.52548656,  2.46077314,  6.68679512,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0006125847530594197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34497217e-14, -9.06179120e-14,  1.00000000e+00,  8.46821866e-27,
        1.00000000e+00,  9.06179120e-14, -1.00000000e+00,  0.00000000e+00,
        9.34497217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1063933 , -0.09411042,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.49152539e-06, 6.30078661e-05,-4.90505449e+00,-7.22233626e-03,
 -1.21277683e-03, 8.49051130e-06]


--- 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,
  9.49638713e-02,-7.00057243e-02, 1.30398999e-01, 9.98985782e-01,
  3.35907178e-04,-8.21938707e-04,-4.50179874e-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,  0.18732941,  2.5009328 ,  0.10997297,-38.20361564,
  -1.99201331,  0.45292216]

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([ 6.48457671, -5.41992667,  3.56007444, -5.41992667, 16.06657614,
       14.58782259,  3.56007444, 14.58782259, 28.69336201,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006062393007733148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.15768552e-08, -3.61794590e-13,  1.00000000e+00,  2.58961190e-20,
        1.00000000e+00,  3.61794590e-13, -1.00000000e+00,  3.00926554e-36,
        7.15768552e-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([ 0.09344186, -0.08893017,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.17433162e-05, 9.70305969e-05,-4.90513927e+00,-7.21472700e-03,
 -1.20717708e-03, 1.43806782e-05]


--- 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,
  9.49528755e-02,-6.99796655e-02, 1.30399942e-01, 9.98979599e-01,
  1.50893151e-04,-9.31726722e-04,-4.51538578e-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, 1.8620532 ,-0.06793347,
  0.81942716,-5.01191215,30.26711222, 1.47662821]

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([ 6.51828433, -2.42098393,  6.0520135 , -2.42098393, 38.31974035,
       12.72152055,  6.0520135 , 12.72152055, 11.60726783,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006102810004956633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54799930e-14,  9.09599860e-14,  1.00000000e+00, -4.13685952e-27,
        1.00000000e+00, -9.09599860e-14, -1.00000000e+00,  0.00000000e+00,
        4.54799930e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194898, -0.06848745,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.60216460e-05, 1.12482455e-04,-4.90520583e+00,-7.20411741e-03,
 -1.20105138e-03, 1.99126294e-05]


--- 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,
  9.49483809e-02,-6.99597874e-02, 1.30403315e-01, 9.98973408e-01,
  3.64798387e-06,-9.82138501e-04,-4.52897847e-02]

qacc:
[ -0.2374496 , -2.08241653,  9.2413025 ,-18.4416252 , -0.57485969,
   1.43254343, -5.68576708, 10.52054357,  4.67762041,  1.55233001,
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  17.56886817,  1.62530766, -1.54515297,  0.60749706, 17.52460236,
  30.51052246, -0.0504535 ]

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([  6.56349753,   4.08074447,   5.14072217,   4.08074447,
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         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006157068745526739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01584074e-14, -9.01584074e-14,  1.00000000e+00,  8.12853842e-27,
        1.00000000e+00,  9.01584074e-14, -1.00000000e+00,  0.00000000e+00,
        9.01584074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331642, -0.05710799,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
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 -3.63292800e-04,-4.08613491e-05,-3.18818209e-04,-7.25249798e-06,
  6.52860377e-05, 8.47859004e-05,-4.90515397e+00,-7.19486595e-03,
 -1.19420162e-03, 1.88481968e-05]


--- Step 375 ---
qpos:
[ 2.85690332e-03,-5.60721014e-03,-1.01803849e-02, 2.79047349e-03,
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  7.77135254e-01, 1.81285440e-02, 7.31872856e-01, 2.73416756e-02,
  9.49502825e-02,-6.99459300e-02, 1.30408260e-01, 9.98967202e-01,
 -1.06006571e-04,-9.75950639e-04,-4.54264856e-02]

qacc:
[ -0.26111377, -1.2913931 ,  5.59489081,-11.05913466, -0.33285479,
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qfrc_actuator:
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Contact:
<MjContact
  H: array([ 6.57619979,  1.82948374, -6.31659663,  1.82948374, 40.090153  ,
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  dim: 3
  dist: -0.0006172323710967875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.496779e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -4.496779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332168, -0.05710563,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.78972557e-05, 4.92774631e-05,-4.90507924e+00,-7.18772984e-03,
 -1.18848850e-03, 1.61208871e-05]


--- 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,
  9.49584905e-02,-6.99379595e-02, 1.30414037e-01, 9.98960963e-01,
 -1.78265592e-04,-9.15405993e-04,-4.55645147e-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, 1.57660587,-1.47173783,
  0.20812353,17.44318665,27.99975032,-0.67955084]

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([ 6.55639436,  1.60341449, -6.35730831,  1.60341449, 50.86633393,
       11.17567308, -6.35730831, 11.17567308,  9.37507726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006148540433364019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.02834613e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.02834613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332514, -0.0571031 ,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.68149939e-05, 1.78382438e-05,-4.90503585e+00,-7.18268757e-03,
 -1.18638725e-03, 1.37992761e-05]


--- 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,
  9.49729296e-02,-6.99357649e-02, 1.30420012e-01, 9.98954668e-01,
 -2.13323703e-04,-8.02308424e-04,-4.57042979e-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,  1.55777986, -1.443955  ,  0.04945177, 17.38304714,
  27.09681072, -0.88972602]

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([ 6.51072924,  1.31643736, -6.37625187,  1.31643736, 64.49935025,
       11.97229798, -6.37625187, 11.97229798,  8.98252312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006093748847578045
  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([ 0.08332719, -0.05710043,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.21079199e-05,-1.02156657e-05,-4.90502081e+00,-7.17976884e-03,
 -1.18772365e-03, 1.18273757e-05]


--- 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,
  9.49935379e-02,-6.99392547e-02, 1.30425643e-01, 9.98948286e-01,
 -2.11363186e-04,-6.38099748e-04,-4.58461596e-02]

qacc:
[  1.86192533,  0.19359841, -2.33866734,  7.65987417, -3.09846189,
   3.34631884,-12.10820169, 18.15340453,  3.16506885,  1.65289039,
  -7.92290204, 16.58727887, -1.53240898,  2.5448103 ,  2.80355006,
 -15.11204335,  1.54230275, -1.4210974 , -0.08617697, 17.3211239 ,
  26.37498235, -1.04957763]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006014785916631932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61455753e-14,  1.84582301e-13,  1.00000000e+00, -8.51765646e-27,
        1.00000000e+00, -1.84582301e-13, -1.00000000e+00,  0.00000000e+00,
        4.61455753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332813, -0.05709765,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.38241883e-05,-3.53826345e-05,-4.90503189e+00,-7.17899151e-03,
 -1.19236020e-03, 1.01615814e-05]


--- 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,
  9.50202659e-02,-6.99483545e-02, 1.30430466e-01, 9.98941779e-01,
 -1.72546006e-04,-4.23922190e-04,-4.59903445e-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, 1.52990571,-1.40251597,
 -0.20169861,17.26275487,25.80323885,-1.16969144]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005917441537281048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38093784e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.38093784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0833282 , -0.0570948 ,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.00958027e-06,-5.80232255e-05,-4.90506750e+00,-7.18036554e-03,
 -1.20018903e-03, 8.76875537e-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,
  9.50530751e-02,-6.99630050e-02, 1.30434091e-01, 9.98935102e-01,
 -9.70086393e-05,-1.60669078e-04,-4.61370338e-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,  1.52032485, -1.38764872, -0.29977494, 17.21161871,
  25.3563786 , -1.25835787]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806591212078466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.56002398e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.56002398e-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([ 0.08332761, -0.05709191,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.33888063e-05,-7.83936553e-05,-4.90512647e+00,-7.18389580e-03,
 -1.21112614e-03, 7.62451203e-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,
  9.50919376e-02,-6.99831594e-02, 1.30436184e-01, 9.98928201e-01,
  1.51410894e-05, 1.50974000e-04,-4.62863585e-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,  1.51330946, -1.37601164, -0.38279128, 17.17017989,
  25.01392196, -1.32206551]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005686314951169891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76223648e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76223648e-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([ 0.08332652, -0.057089  ,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.23310882e-05,-9.66694424e-05,-4.90520799e+00,-7.18958400e-03,
 -1.22510696e-03, 6.71175008e-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,
  9.51249304e-02,-6.99904662e-02, 1.30438134e-01, 9.98921237e-01,
  4.50327415e-05, 4.00059981e-04,-4.64349076e-02]

qacc:
[ 1.45873276e+00, 1.03287807e+00,-4.42254311e+00, 7.58232667e+00,
  9.30102568e+00, 1.36723277e+00,-4.68670791e+00, 7.34437592e+00,
 -4.37080793e+00, 1.65836202e+00,-7.40750291e+00, 1.46034388e+01,
 -1.67686881e+00, 2.80443355e+00,-3.19351710e+00, 4.94800633e+00,
 -1.46741063e+00, 3.21193360e+00,-3.59563317e-02,-3.96372452e+01,
 -3.31487292e+01, 3.80233837e-01]

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([ 6.16368325,  3.14201562, -5.30270959,  3.14201562, 25.0220211 ,
       11.17413485, -5.30270959, 11.17413485, 12.78469569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005677867178099372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.02704708e-14, -1.95535223e-13,  1.00000000e+00, -1.37403522e-26,
        1.00000000e+00,  1.95535223e-13, -1.00000000e+00,  0.00000000e+00,
       -7.02704708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10632675, -0.09417609,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.48761008e-05,-1.12962240e-04,-4.90531155e+00,-7.19742997e-03,
 -1.24208270e-03, 6.01943033e-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,
  9.51521501e-02,-6.99852514e-02, 1.30439089e-01, 9.98914175e-01,
 -6.66488541e-06, 5.90047805e-04,-4.65845717e-02]

qacc:
[ 3.87985623e+00,-1.79052933e+00, 7.60460132e+00,-1.35471873e+01,
  5.66448295e+00, 3.89496278e-02, 2.99433837e+00,-1.28922994e+01,
 -8.79901399e+00, 6.34007495e-01,-1.16002645e+00,-1.07916238e+00,
 -9.31069394e-01, 8.66466452e-01,-8.96492608e+00, 2.48081556e+01,
 -1.44330368e+00, 3.13037222e+00,-2.48579958e-01,-3.93782982e+01,
 -3.14115032e+01,-5.74162024e-01]

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([ 6.21093852, -2.00454264,  5.87856837, -2.00454264, 25.29454764,
        6.50735107,  5.87856837,  6.50735107,  8.42989081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005734567312946082
  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([ 0.10631768, -0.09417883,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.19327301e-05,-9.72248693e-05,-4.90517065e+00,-7.19629081e-03,
 -1.26308613e-03,-4.24797528e-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,
  9.51736826e-02,-6.99677887e-02, 1.30438312e-01, 9.98906965e-01,
 -1.39316786e-04, 7.23741900e-04,-4.67368286e-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, -1.42178009,  3.06199337, -0.43318421,-39.12121209,
 -30.0018603 , -1.3225303 ]

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([ 6.2216544 , -1.77521038,  5.96302034, -1.77521038, 31.96514185,
        7.6639192 ,  5.96302034,  7.6639192 ,  8.50322785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005747417381822967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65845136e-14, -9.65845136e-14,  1.00000000e+00,  9.32856827e-27,
        1.00000000e+00,  9.65845136e-14, -1.00000000e+00,  0.00000000e+00,
        9.65845136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10631112, -0.09418233,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.26298402e-05,-7.28866659e-05,-4.90509999e+00,-7.19051120e-03,
 -1.28017213e-03,-1.12238695e-05]


--- 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,
  9.51888551e-02,-6.99527478e-02, 1.30440362e-01, 9.98899926e-01,
 -2.48176264e-04, 8.18042610e-04,-4.68850511e-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, -1.59000521, -0.60543734,  0.70702251, 12.80232175,
 -19.1195153 ,  2.02478195]

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([ 6.21237599, -0.28121699,  6.20600777, -0.28121699, 28.38766979,
        1.00484395,  6.20600777,  1.00484395,  6.25790916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005736291219837498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.81989915e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.81989915e-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([ 0.1058469 , -0.06359253,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.08657328e-05,-3.89121590e-05,-4.90509447e+00,-7.18001337e-03,
 -1.29369891e-03,-1.51602404e-05]


--- 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,
  9.52009030e-02,-6.99484493e-02, 1.30442479e-01, 9.98893267e-01,
 -2.76865378e-04, 9.03333707e-04,-4.70249814e-02]

qacc:
[-1.17145386e+00, 5.20857180e-02, 4.75712254e+00,-2.08027447e+01,
  4.56785858e+00, 9.08547780e-01,-4.18354342e+00, 7.40104094e+00,
 -5.58795055e+00,-2.23085710e-01, 8.20114467e-01,-2.76003101e+00,
 -2.14336728e+00, 4.15979956e+00,-4.56704025e+00, 1.14668412e+01,
 -7.81147514e-01,-2.68563476e+00, 1.65857601e-02, 4.02489488e+01,
 -2.62163968e+00, 4.18223280e+00]

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([ 6.24451735, -3.07596932,  5.43437298, -3.07596932, 19.48310881,
        7.49332098,  5.43437298,  7.49332098, 10.4858945 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005774825887087526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80630519e-14,  9.61261037e-14,  1.00000000e+00, -4.62011391e-27,
        1.00000000e+00, -9.61261037e-14, -1.00000000e+00,  0.00000000e+00,
        4.80630519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10063183, -0.04674668,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.43169982e-05,-2.25250656e-05,-4.90505332e+00,-7.17167857e-03,
 -1.29714318e-03,-1.48395560e-05]


--- 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,
  9.52099240e-02,-6.99547040e-02, 1.30443955e-01, 9.98886948e-01,
 -2.27000092e-04, 9.77961152e-04,-4.71577952e-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, -0.75670573, -2.63828612, -0.16035812, 39.48129306,
  -3.48005423,  3.59622807]

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([  6.24445434,  -2.11980393,  -5.87363953,  -2.11980393,
        37.18754006, -11.16739876,  -5.87363953, -11.16739876,
        10.27478268,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005774750361478703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61273609e-14, -1.92254722e-13,  1.00000000e+00,  1.84809390e-26,
        1.00000000e+00,  1.92254722e-13, -1.00000000e+00,  0.00000000e+00,
        9.61273609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10063854, -0.04674729,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.07804890e-05,-2.32121804e-05,-4.90501624e+00,-7.16936575e-03,
 -1.29660476e-03,-1.42181044e-05]


--- 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,
  9.52128790e-02,-6.99633476e-02, 1.30447062e-01, 9.98880788e-01,
 -1.55221817e-04, 1.00998454e-03,-4.72877067e-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, -1.51652079, -0.59722438,  0.40789285, 11.94745484,
 -20.76204237,  1.45924044]

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([ 6.2197193 ,  0.67746339, -6.18271393,  0.67746339, 38.48783792,
        3.53574002, -6.18271393,  3.53574002,  6.60714373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005745097073204074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83117609e-14, -4.91181132e-07,  1.00000000e+00,  2.37298254e-20,
        1.00000000e+00,  4.91181132e-07, -1.00000000e+00,  0.00000000e+00,
        4.83117609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10585296, -0.06359864,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.65017330e-05,-1.47065946e-05,-4.90501858e+00,-7.17190182e-03,
 -1.29636852e-03,-1.36088621e-05]


--- 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,
  9.52073708e-02,-6.99661695e-02, 1.30450184e-01, 9.98874566e-01,
 -1.18306026e-04, 9.72293611e-04,-4.74198522e-02]

qacc:
[-8.15855321e+00, 2.90085503e-01,-3.72728494e+00, 1.35422255e+01,
 -1.73445417e-01,-7.47214704e-02,-5.40248023e+00, 2.12467276e+01,
  3.76332065e+00, 8.05991918e-01,-4.11578254e+00, 9.66757863e+00,
 -3.77415929e-01,-7.91442317e-01,-1.18731467e+01, 3.46313331e+01,
 -2.11579800e+00, 1.45545040e+00, 3.72417790e-03,-1.57622945e+01,
 -3.56422226e+01,-1.14028363e+00]

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([ 6.21529242,  1.16134909, -6.10582739,  1.16134909, 29.9271299 ,
        4.51007197, -6.10582739,  4.51007197,  7.07312342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005739788642479676
  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([ 0.11089287, -0.07991784,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.25204978e-05, 4.95264478e-06,-4.90501717e+00,-7.17501503e-03,
 -1.29720504e-03,-1.42408560e-05]


--- 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,
  9.51934973e-02,-6.99632729e-02, 1.30452756e-01, 9.98868250e-01,
 -1.16268225e-04, 8.66761949e-04,-4.75547557e-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, -2.0913365 ,  1.42959325, -0.13745304,-15.80953452,
 -34.70893847, -1.40062172]

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([ 6.18473082, -1.84988146,  5.90159588, -1.84988146, 59.29561551,
       16.64784287,  5.90159588, 16.64784287, 11.40307117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005703128715629918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73345579e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.73345579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11089103, -0.07992068,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.46930580e-05, 3.01603696e-05,-4.90501286e+00,-7.17539229e-03,
 -1.29687926e-03,-1.46266030e-05]


--- 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,
  9.51713395e-02,-6.99547427e-02, 1.30454292e-01, 9.98861797e-01,
 -1.49097150e-04, 6.94894260e-04,-4.76928179e-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, -2.07106217,  1.40839623, -0.25902046,-15.83497561,
 -33.9592727 , -1.59977169]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005643375598393674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.83651544e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.83651544e-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([ 0.11089038, -0.07992351,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.39591923e-07, 5.82692453e-05,-4.90504551e+00,-7.17382120e-03,
 -1.29233705e-03,-1.29441239e-05]


--- 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,
  9.51461303e-02,-6.99567499e-02, 1.30454775e-01, 9.98855655e-01,
 -1.06614501e-04, 5.13360323e-04,-4.78236995e-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,
 -7.62838706e-01,-2.63433106e+00,-2.63326367e-01, 3.78409614e+01,
 -3.03235525e+00, 3.61901036e+00]

qfrc_actuator:
[-7.76353471e-05,-3.47472485e-04,-2.30681622e-04,-6.95877617e-05,
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  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([ 6.08067829, -1.74110534,  5.82607936, -1.74110534, 23.60154253,
        5.23605473,  5.82607936,  5.23605473,  7.64545665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005578104622952357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95161529e-14, -9.95161529e-14,  1.00000000e+00,  9.90346468e-27,
        1.00000000e+00,  9.95161529e-14, -1.00000000e+00,  0.00000000e+00,
        9.95161529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10067107, -0.04673821,  0.06198277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.74282005e-06, 8.95991571e-05,-4.90511322e+00,-7.17027095e-03,
 -1.28369028e-03,-9.25639591e-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,
  9.51179346e-02,-6.99691324e-02, 1.30453659e-01, 9.98849762e-01,
  1.04989680e-05, 3.20540998e-04,-4.79484104e-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, -0.74664869, -2.59383841, -0.39973342, 37.54099278,
  -3.8520688 ,  3.10639969]

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([ 6.04662633, -0.46690503, -6.02857278, -0.46690503, 50.63340269,
       -3.4531872 , -6.02857278, -3.4531872 ,  6.31407114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005537101217851226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00253091e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00253091e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10067741, -0.04673567,  0.06198289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.22803127e-05, 8.86206006e-05,-4.90512718e+00,-7.17360176e-03,
 -1.26804338e-03,-9.85251126e-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,
  9.50841420e-02,-6.99695169e-02, 1.30450483e-01, 9.98843651e-01,
  4.32484278e-05, 7.03393056e-05,-4.80765510e-02]

qacc:
[  2.01686419, -1.87126631,  7.6341852 ,-12.87652543,  4.906137  ,
  -0.88927221,  7.44909008,-22.21023316, -0.33990749,  0.20314847,
   0.9974804 , -7.66685769, -1.29366794,  1.53079969,  0.99316886,
  -9.38960726, -1.3992021 ,  2.99952787, -0.51482711,-40.75723827,
 -30.6807263 , -1.73140982]

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([ 6.05139851,  0.53732226, -6.02749605,  0.53732226, 36.58767852,
        2.72216239, -6.02749605,  2.72216239,  6.29406618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005542850639655011
  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([ 0.10625132, -0.0942043 ,  0.06198287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.95572894e-05, 9.66428153e-05,-4.90517887e+00,-7.18149488e-03,
 -1.25244044e-03,-1.04434230e-05]


--- 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,
  9.50447864e-02,-6.99580818e-02, 1.30444680e-01, 9.98837244e-01,
 -7.01615041e-06,-2.34900896e-04,-4.82089724e-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, -1.39076733,  2.95487256, -0.65680622,-40.13583523,
 -29.4830301 , -2.14667564]

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([ 6.03920738,  1.40505765,  5.87348608,  1.40505765, 38.18574497,
       -7.69010739,  5.87348608, -7.69010739,  7.8788379 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005528160941138255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03553198e-13, -1.00415223e-13,  1.00000000e+00,  1.03983175e-26,
        1.00000000e+00,  1.00415223e-13, -1.00000000e+00,  0.00000000e+00,
        1.03553198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.106246  , -0.09420529,  0.06198292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.92363294e-06, 1.13519555e-04,-4.90522395e+00,-7.18246619e-03,
 -1.24171180e-03,-3.58488685e-06]


--- 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,
  9.50121117e-02,-6.99530896e-02, 1.30442154e-01, 9.98830791e-01,
 -2.12641548e-05,-4.80917405e-04,-4.83406591e-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, 1.67022579,-1.61073093,
  0.81916947,16.55987743,30.4455691 , 0.36176286]

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([ 6.0792355 , -2.79890401,  5.39659527, -2.79890401, 29.60516051,
       12.20154608,  5.39659527, 12.20154608, 12.40747665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005576368288117001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95471396e-14, -1.99094279e-13,  1.00000000e+00,  1.98192660e-26,
        1.00000000e+00,  1.99094279e-13, -1.00000000e+00,  0.00000000e+00,
        9.95471396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08338053, -0.05702172,  0.06198277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.59658354e-06, 1.43101061e-04,-4.90532968e+00,-7.17841205e-03,
 -1.22755085e-03, 6.27030905e-06]


--- 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,
  9.49859814e-02,-6.99543561e-02, 1.30441982e-01, 9.98824291e-01,
  8.85403755e-07,-6.70370046e-04,-4.84725283e-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,  1.63611776, -1.56464219,  0.58843761, 16.81029167,
  29.12859897, -0.1004796 ]

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([ 6.15379034,  3.40427818, -5.12640474,  3.40427818, 31.40363687,
       16.7675995 , -5.12640474, 16.7675995 , 17.28860626,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005665989183735454
  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([ 0.08338642, -0.05701882,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.02502050e-06, 1.15146479e-04,-4.90521441e+00,-7.17993904e-03,
 -1.21035370e-03, 7.17229805e-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,
  9.49662763e-02,-6.99617270e-02, 1.30443359e-01, 9.98817738e-01,
  5.96757816e-05,-8.05441231e-04,-4.86052974e-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,  1.60629189, -1.52613161,  0.38718413, 16.98056536,
  28.04677801, -0.46298024]

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([ 6.18953601,  3.22911554, -5.28045157,  3.22911554, 40.48949731,
       20.97520194, -5.28045157, 20.97520194, 19.01634629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005708894267586057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.72362574e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.72362574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339053, -0.05701599,  0.06198236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.27891865e-06, 9.17892504e-05,-4.90513294e+00,-7.18343124e-03,
 -1.19671588e-03, 8.29932024e-06]


--- 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,
  9.49528934e-02,-6.99750749e-02, 1.30445586e-01, 9.98811116e-01,
  1.55257518e-04,-8.87916647e-04,-4.87395263e-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,  1.58052801, -1.49422712,  0.21265791, 17.0951286 ,
  27.16085075, -0.74705718]

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([ 6.19353629,  2.97349562, -5.43306687,  2.97349562, 52.95513116,
       25.59243257, -5.43306687, 25.59243257, 20.20017158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005713693596695879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.71545819e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.71545819e-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([ 0.08339321, -0.05701321,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.82813269e-05, 7.22381055e-05,-4.90508208e+00,-7.18895934e-03,
 -1.18647751e-03, 9.64905161e-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,
  9.49457446e-02,-6.99942950e-02, 1.30448061e-01, 9.98804407e-01,
  2.87721784e-04,-9.19251646e-04,-4.88756513e-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,  1.55854816, -1.46806357,  0.06203664, 17.17222525,
  26.43844069, -0.96943378]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000568781379570088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95193279e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.95193279e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339476, -0.05701045,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.39480221e-05, 5.59150247e-05,-4.90505937e+00,-7.19657314e-03,
 -1.17950978e-03, 1.12166056e-05]


--- 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,
  9.49458104e-02,-7.00138084e-02, 1.30451636e-01, 9.98797782e-01,
  4.16714742e-04,-8.99994434e-04,-4.90102701e-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,  1.80364813, -0.07332964,  0.27493232, -2.96926227,
  25.18128604,  0.74858725]

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([ 6.13079822, -0.25878169, -6.12533418, -0.25878169, 33.94393028,
       -1.17504272, -6.12533418, -1.17504272,  6.18044115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005638371690300244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35061691e-08, -9.35063288e-08,  1.00000000e+00, -8.74341859e-15,
        1.00000000e+00,  9.35063288e-08, -1.00000000e+00,  0.00000000e+00,
       -9.35061691e-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([ 0.08196701, -0.06822082,  0.06198258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.32515504e-05, 4.24004100e-05,-4.90506294e+00,-7.20630777e-03,
 -1.17570940e-03, 1.29968703e-05]


--- 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,
  9.49537776e-02,-7.00260733e-02, 1.30454997e-01, 9.98791650e-01,
  4.88514921e-04,-8.31798995e-04,-4.91356211e-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 ,  1.97535611,  1.81212612, -0.05351024,-29.7571807 ,
  23.04033271,  4.65593443]

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([ 6.10025428e+00,  2.56387903e-02, -6.10020040e+00,  2.56387903e-02,
        2.90509870e+01,  9.64606056e-02, -6.10020040e+00,  9.64606056e-02,
        6.10065970e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005601655155041407
  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([ 0.08026385, -0.08359071,  0.06198269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.70423576e-05, 2.06405144e-05,-4.90505304e+00,-7.21562804e-03,
 -1.17769791e-03, 1.46060428e-05]


--- 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,
  9.49695084e-02,-7.00311856e-02, 1.30457573e-01, 9.98785975e-01,
  5.04410060e-04,-7.14130291e-04,-4.92525391e-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,  1.94089533,  1.78817409, -0.19635559,-29.13079765,
  23.33552675,  4.23380882]

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([  6.07352144,   4.09251583,   4.48764714,   4.09251583,
        38.57809565, -29.64259006,   4.48764714, -29.64259006,
        33.10612122,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005569490858921555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98350322e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.98350322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08025883, -0.08358975,  0.06198279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.41705760e-05,-9.29763022e-06,-4.90502527e+00,-7.22102409e-03,
 -1.18606824e-03, 1.41845476e-05]


--- 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,
  9.49928911e-02,-7.00292257e-02, 1.30458872e-01, 9.98780711e-01,
  4.65448024e-04,-5.46589041e-04,-4.93616937e-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,  1.91294948,  1.76801737, -0.31890547,-28.62079509,
  23.5571781 ,  3.89410943]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005515047983603721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00653977e-13, -1.00653977e-13,  1.00000000e+00,  1.01312231e-26,
        1.00000000e+00,  1.00653977e-13, -1.00000000e+00,  0.00000000e+00,
        1.00653977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08025416, -0.08358971,  0.06198296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.12212203e-05,-3.22206016e-05,-4.90503426e+00,-7.22271901e-03,
 -1.19677229e-03, 1.16144227e-05]


--- 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,
  9.50105909e-02,-7.00150696e-02, 1.30458143e-01, 9.98775274e-01,
  3.47068132e-04,-4.33664708e-04,-4.94736750e-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, -1.42070263,  3.04905557, -0.50743252,-38.31325203,
 -29.23596756, -1.3814664 ]

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([ 6.00957185,  5.81293931, -1.52469353,  5.81293931,  8.40549889,
        9.13454293, -1.52469353,  9.13454293, 40.83528773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005492422395659141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73759122e-14,  1.01068613e-13,  1.00000000e+00,  4.78821773e-27,
        1.00000000e+00, -1.01068613e-13, -1.00000000e+00,  0.00000000e+00,
       -4.73759122e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1061802 , -0.09424153,  0.06198303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.23095258e-05,-4.87263692e-05,-4.90507898e+00,-7.22078759e-03,
 -1.20992627e-03, 6.90322905e-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,
  9.50226791e-02,-6.99889336e-02, 1.30454805e-01, 9.98769602e-01,
  1.49548432e-04,-3.73492527e-04,-4.95895249e-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, -1.40289704,  2.99500585, -0.6519696 ,-38.2173188 ,
 -28.30216326, -1.91141045]

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([ 5.99218727, -2.17550179,  5.5833234 , -2.17550179, 44.10347957,
       14.84979085,  5.5833234 , 14.84979085, 11.77830143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005471437356933118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55354882e-13, -2.02912499e-13,  1.00000000e+00,  3.15234472e-26,
        1.00000000e+00,  2.02912499e-13, -1.00000000e+00,  0.00000000e+00,
        1.55354882e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10617658, -0.09424613,  0.06198309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.82163307e-05,-2.36693584e-05,-4.90507347e+00,-7.21179034e-03,
 -1.22062341e-03, 3.56227831e-06]


--- 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,
  9.50411456e-02,-6.99688756e-02, 1.30453058e-01, 9.98763854e-01,
 -9.63277593e-06,-2.55819907e-04,-4.97061123e-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,  1.59457539, -1.51954371,  0.39769633, 17.71981814,
  29.66537051, -0.38166562]

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([ 5.99116358, -3.01446339,  5.17755266, -3.01446339, 27.42752246,
       12.48063003,  5.17755266, 12.48063003, 13.25760872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005470201171597078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07395884e-14, -3.04437531e-13,  1.00000000e+00,  1.54470350e-26,
        1.00000000e+00,  3.04437531e-13, -1.00000000e+00,  0.00000000e+00,
        5.07395884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341234, -0.05699796,  0.0619831 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.99133398e-05, 1.18494081e-05,-4.90512662e+00,-7.19807163e-03,
 -1.22811473e-03, 2.96864383e-06]


--- 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,
  9.50659222e-02,-6.99547708e-02, 1.30452224e-01, 9.98758002e-01,
 -1.30734074e-04,-8.29145072e-05,-4.98239812e-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 , 1.57751434,-1.48826012,
  0.2283237 ,17.64355149,28.52864681,-0.64717459]

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([ 6.01446903,  0.8984591 , -5.94698318,  0.8984591 , 51.30726981,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005498331036586784
  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([ 0.08341717, -0.05699666,  0.06198301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.88534792e-05,-1.94829012e-05,-4.90511121e+00,-7.18947962e-03,
 -1.23299831e-03,-8.99895651e-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,
  9.50887678e-02,-6.99514760e-02, 1.30451717e-01, 9.98752369e-01,
 -1.69178944e-04, 8.70605041e-05,-4.99366558e-02]

qacc:
[ -0.72032366,  0.74454608, -5.05524109, 14.29931701,  4.5431404 ,
  -2.13831015,  8.52968739,-13.63668956, -3.12043569, -1.20724782,
   5.45488189,-11.15330519, -0.18726249, -1.24873306, -2.38847297,
   2.89455318, -0.4827507 , -2.7025173 ,  0.081589  , 41.35011608,
   0.59543112,  2.59580267]

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([  6.03109864,   5.65644381,   2.09255687,   5.65644381,
        10.02280496, -10.79008306,   2.09255687, -10.79008306,
        35.19804711,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005518386518055999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74495490e-14, -5.08277534e-07,  1.00000000e+00,  4.95314165e-20,
        1.00000000e+00,  5.08277534e-07, -1.00000000e+00,  6.01853108e-36,
        9.74495490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09842924, -0.04663523,  0.06198295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.40948710e-05,-4.76147171e-05,-4.90512356e+00,-7.18305069e-03,
 -1.24139870e-03,-4.37504482e-06]


--- 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,
  9.51085003e-02,-6.99587400e-02, 1.30450887e-01, 9.98747009e-01,
 -1.26491853e-04, 2.43176151e-04,-5.00433448e-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, -0.7782544 , -2.63971805, -0.08075945, 40.86117749,
  -4.89582539,  2.99824912]

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([  6.06488279,  -2.20657921,  -5.64923105,  -2.20657921,
        52.94904384, -18.31286668,  -5.64923105, -18.31286668,
        13.21785468,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000555909079110406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.98565293e-14,  9.98565293e-14,  1.00000000e+00, -9.97132644e-27,
        1.00000000e+00, -9.98565293e-14, -1.00000000e+00,  0.00000000e+00,
        9.98565293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10077595, -0.04676637,  0.06198282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.21543586e-05,-5.09962698e-05,-4.90508080e+00,-7.18000663e-03,
 -1.24702372e-03,-3.40029110e-06]


--- 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,
  9.51251982e-02,-6.99764131e-02, 1.30449102e-01, 9.98741887e-01,
 -4.46939336e-06, 3.84721343e-04,-5.01447364e-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, -0.75865685, -2.60226012, -0.23865477, 39.98192917,
  -5.29135958,  2.66001095]

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([  6.06683524,  -4.36931926,  -4.20898314,  -4.36931926,
        31.64712791, -26.55474295,  -4.20898314, -26.55474295,
        33.63314897,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005561441621721591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9962864e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9962864e-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([ 0.10077956, -0.04676803,  0.06198282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.45536317e-05,-4.08226607e-05,-4.90507033e+00,-7.18169602e-03,
 -1.25254899e-03,-2.23259294e-06]


--- 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,
  9.51360764e-02,-6.99814155e-02, 1.30447000e-01, 9.98736591e-01,
  3.12185016e-05, 4.67549667e-04,-5.02493930e-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, -1.45495255,  3.16768864, -0.07917564,-41.64017471,
 -31.48606916, -1.65149523]

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([ 6.09618144,  0.06681286, -6.0958153 ,  0.06681286, 51.73964141,
        0.50027272, -6.0958153 ,  0.50027272,  6.10166465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005596756634151101
  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([ 0.10614207, -0.09425985,  0.06198271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.56074400e-05,-2.21895135e-05,-4.90510013e+00,-7.18833872e-03,
 -1.25796608e-03,-1.24640996e-06]


--- 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,
  9.51412295e-02,-6.99740266e-02, 1.30443769e-01, 9.98731093e-01,
 -1.79397982e-05, 4.94320355e-04,-5.03583165e-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,
 -1.43124772e+00, 3.09781989e+00,-2.82513312e-01,-4.09600680e+01,
 -3.01251605e+01,-2.15484943e+00]

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([ 6.1448362 ,  0.08006354,  6.14431459,  0.08006354, 39.213727  ,
       -0.43090444,  6.14431459, -0.43090444,  6.1504511 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005655235747868137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81588632e-14, -9.81588632e-14,  1.00000000e+00,  9.63516243e-27,
        1.00000000e+00,  9.81588632e-14, -1.00000000e+00,  0.00000000e+00,
        9.81588632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10613577, -0.09425938,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.64335878e-05,-1.71284891e-05,-4.90501946e+00,-7.18892539e-03,
 -1.26706782e-03,-5.99366723e-06]


--- 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,
  9.51407405e-02,-6.99544830e-02, 1.30438697e-01, 9.98725342e-01,
 -1.50664389e-04, 4.67194068e-04,-5.04722764e-02]

qacc:
[  7.49756701, -1.9915673 ,  8.47481961,-14.69061042, -0.37186831,
   1.51646324, -6.8682045 , 14.37053413, -2.93569098, -2.73266462,
  11.04619955,-17.98291693, -0.13049276, -1.65714493, -3.23482661,
   5.03052171, -1.41052303,  3.03866432, -0.45991192,-40.37180368,
 -29.01831371, -2.54245477]

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([ 6.15763172,  0.41484165,  6.14364182,  0.41484165, 48.48747387,
       -2.85826912,  6.14364182, -2.85826912,  6.35063273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005670601715545148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.78928763e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.78928763e-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([ 0.10613136, -0.09426031,  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:
[ 4.40364713e-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,
  1.66949816e-05, 4.35530056e-07,-4.90500720e+00,-7.18444477e-03,
 -1.27266665e-03,-7.51374282e-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,
  9.51369487e-02,-6.99460378e-02, 1.30434928e-01, 9.98719971e-01,
 -2.01616562e-04, 4.28986648e-04,-5.05786039e-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,-0.82570645,-2.77459798,
  0.32547301,41.11198364,-3.47054836, 3.83916301]

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([ 6.19474328, -0.5775086 ,  6.16776525, -0.5775086 , 33.90581551,
        2.59468088,  6.16776525,  2.59468088,  6.43769198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005715141600078077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85649833e-14, -9.71299665e-14,  1.00000000e+00,  4.71711520e-27,
        1.00000000e+00,  9.71299665e-14, -1.00000000e+00,  0.00000000e+00,
        4.85649833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10079954, -0.04677561,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.52044333e-05, 3.03872860e-05,-4.90505855e+00,-7.17492587e-03,
 -1.27500188e-03,-6.04737351e-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,
  9.51299552e-02,-6.99484460e-02, 1.30431582e-01, 9.98714939e-01,
 -1.72580081e-04, 3.78296068e-04,-5.06783706e-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, -0.80043815, -2.71334086,  0.10578918, 40.25745067,
  -4.21146716,  3.30068201]

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([  6.24338954,  -1.79744737,  -5.97905477,  -1.79744737,
        41.13698142, -10.48985122,  -5.97905477, -10.48985122,
         9.39689059,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005773474083763247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80743054e-14, -1.92297221e-13,  1.00000000e+00,  9.24455535e-27,
        1.00000000e+00,  1.92297221e-13, -1.00000000e+00,  0.00000000e+00,
        4.80743054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10080503, -0.04677757,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.55852185e-05, 2.24559023e-05,-4.90501525e+00,-7.17185256e-03,
 -1.26795279e-03,-6.10389065e-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,
  9.51198432e-02,-6.99614996e-02, 1.30427895e-01, 9.98710197e-01,
 -6.50627567e-05, 3.14039103e-04,-5.07724268e-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, -0.77962299, -2.66136013, -0.08509511, 39.53270135,
  -4.7863823 ,  2.87260857]

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([  6.25604033,  -2.1131078 ,  -5.88836276,  -2.1131078 ,
        50.45085559, -15.85982597,  -5.88836276, -15.85982597,
        11.94752423,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005788636187771951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79483849e-14,  9.58967699e-14,  1.00000000e+00, -4.59809523e-27,
        1.00000000e+00, -9.58967699e-14, -1.00000000e+00,  0.00000000e+00,
        4.79483849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10080966, -0.04677802,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.94381844e-06, 2.41759449e-05,-4.90501471e+00,-7.17371830e-03,
 -1.26107305e-03,-6.16331667e-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,
  9.51048460e-02,-6.99734335e-02, 1.30427030e-01, 9.98705425e-01,
  3.67204626e-05, 2.12475398e-04,-5.08667688e-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, -1.22128208,  0.27993703,  0.70531997, -1.91623361,
 -18.77486466, -0.14561707]

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([ 6.23680217e+00, -4.03334632e-02, -6.23667175e+00, -4.03334632e-02,
        5.47119154e+01, -3.13495607e-01, -6.23667175e+00, -3.13495607e-01,
        6.23882959e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005765577918975384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.73747787e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.73747787e-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([ 0.10345981, -0.07048963,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.61423299e-05, 3.48174378e-05,-4.90505462e+00,-7.18044572e-03,
 -1.25415584e-03,-6.28209841e-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,
  9.50841669e-02,-6.99731229e-02, 1.30424701e-01, 9.98700391e-01,
  5.31925296e-05, 5.53508486e-05,-5.09658977e-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, -1.42048679,  3.06111718, -0.36584649,-41.18674187,
 -29.91426969, -2.40499523]

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([ 6.26101968,  0.70523218, -6.22117473,  0.70523218, 24.58206362,
        2.076873  , -6.22117473,  2.076873  ,  6.49645394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005794603273266141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49053212e-14,  1.91596037e-13,  1.00000000e+00,  8.60368160e-27,
        1.00000000e+00, -1.91596037e-13, -1.00000000e+00,  0.00000000e+00,
       -4.49053212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10610701, -0.09426043,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.20509810e-05, 4.46073873e-05,-4.90507284e+00,-7.18629645e-03,
 -1.24840306e-03,-5.56663946e-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,
  9.50578725e-02,-6.99607866e-02, 1.30420233e-01, 9.98695043e-01,
 -1.41709792e-05,-1.55321260e-04,-5.10704017e-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, -1.40381522,  3.00641666, -0.53467307,-40.49860466,
 -28.87549695, -2.6929851 ]

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([  6.25465223,   1.49645194,   6.07299811,   1.49645194,
        47.51088643, -10.16597904,   6.07299811, -10.16597904,
         8.75965861,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005786972666315116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69787196e-14, -9.59243363e-14,  1.00000000e+00,  2.58791577e-27,
        1.00000000e+00,  9.59243363e-14, -1.00000000e+00,  0.00000000e+00,
        2.69787196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10610323, -0.09426144,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.42999863e-06, 5.64538788e-05,-4.90509001e+00,-7.18644969e-03,
 -1.24229275e-03,-1.61796036e-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,
  9.50381948e-02,-6.99548175e-02, 1.30418717e-01, 9.98689647e-01,
 -4.39364043e-05,-3.07993547e-04,-5.11751117e-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, 1.65415089,-1.59178586,
  0.73789021,17.2934567 ,29.92214038,-0.10665536]

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([ 6.2678674 , -2.89473011,  5.5593794 , -2.89473011, 33.18169272,
       14.01384126,  5.5593794 , 14.01384126, 13.56477686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005802808724119923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78312778e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.78312778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346107, -0.0569622 ,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.09675221e-05, 8.14325850e-05,-4.90516922e+00,-7.18150735e-03,
 -1.23294273e-03, 5.28392781e-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,
  9.50250048e-02,-6.99550466e-02, 1.30419252e-01, 9.98684195e-01,
 -3.60822911e-05,-4.05086941e-04,-5.12807246e-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,
  1.62195556e+00,-1.54956409e+00, 5.12495648e-01, 1.73628535e+01,
  2.87156360e+01,-4.56815068e-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([ 6.31818554,  2.79889704, -5.66441911,  2.79889704, 41.4452352 ,
       17.35694222, -5.66441911, 17.35694222, 14.89458026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005863086043029347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73395332e-14,  9.46790663e-14,  1.00000000e+00, -4.48206280e-27,
        1.00000000e+00, -9.46790663e-14, -1.00000000e+00,  0.00000000e+00,
        4.73395332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346585, -0.05696001,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.49653798e-06, 5.91591412e-05,-4.90508750e+00,-7.18143598e-03,
 -1.22179321e-03, 5.24453687e-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,
  9.50181915e-02,-6.99613328e-02, 1.30421053e-01, 9.98678674e-01,
  9.35522558e-06,-4.48581844e-04,-5.13877819e-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,  1.59415787, -1.51426866,  0.31679111, 17.39239701,
  27.72764735, -0.72963393]

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([ 6.33206512,  2.5541225 , -5.79409242,  2.5541225 , 53.59458722,
       20.83402579, -5.79409242, 20.83402579, 15.51601492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005879708832771807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72056974e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.72056974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346903, -0.05695769,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.75036310e-06, 4.06086525e-05,-4.90503744e+00,-7.18345979e-03,
 -1.21415462e-03, 5.50173013e-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,
  9.50176601e-02,-6.99735591e-02, 1.30423445e-01, 9.98673063e-01,
  9.23097429e-05,-4.40091942e-04,-5.14967029e-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 ,  1.5704702 , -1.48502915,  0.14773667, 17.39760481,
  26.92198631, -0.94164739]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005861045451220764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8942406e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8942406e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347094, -0.05695526,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37142208e-05, 2.52096739e-05,-4.90501629e+00,-7.18761530e-03,
 -1.20987966e-03, 6.03113294e-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,
  9.50233309e-02,-6.99916297e-02, 1.30425847e-01, 9.98667334e-01,
  2.12704133e-04,-3.80924956e-04,-5.16078112e-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,
  1.55057096e+00,-1.46106821e+00, 2.33029516e-03, 1.73897693e+01,
  2.62688082e+01,-1.10580646e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000581427831220227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77369230e-14, -1.90947692e-13,  1.00000000e+00,  9.11525527e-27,
        1.00000000e+00,  1.90947692e-13, -1.00000000e+00,  0.00000000e+00,
        4.77369230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347184, -0.05695272,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.93476475e-05, 1.25493316e-05,-4.90502195e+00,-7.19392635e-03,
 -1.20885055e-03, 6.81263712e-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,
  9.50292308e-02,-7.00060719e-02, 1.30430641e-01, 9.98661603e-01,
  3.08270905e-04,-3.25575426e-04,-5.17184867e-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,  0.05725243,  0.90709832,  0.59811304,-12.29867804,
  -2.5467882 ,  0.22120889]

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([ 6.21940669,  3.0385882 , -5.42660127,  3.0385882 , 29.77920041,
       13.19214506, -5.42660127, 13.19214506, 13.60625792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005744722228380669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50984104e-15,  1.97153255e-07,  1.00000000e+00, -2.97670076e-22,
        1.00000000e+00, -1.97153255e-07, -1.00000000e+00,  0.00000000e+00,
        1.50984104e-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([ 0.09461947, -0.07536119,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.86191689e-05, 2.33405489e-06,-4.90505281e+00,-7.20240817e-03,
 -1.21097360e-03, 7.83068010e-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,
  9.50295182e-02,-7.00082633e-02, 1.30433648e-01, 9.98655728e-01,
  3.22240158e-04,-3.26508061e-04,-5.18317203e-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, -1.4030997 ,  3.0626943 , -0.44650214,-39.2891347 ,
 -30.21388689, -1.25911376]

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([ 6.22829316,  3.48892138, -5.15936655,  3.48892138, 18.14364691,
        8.05752644, -5.15936655,  8.05752644, 11.67703884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005755377101237663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52113766e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.52113766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1060661 , -0.09428008,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.85853055e-05,-9.60605928e-07,-4.90503469e+00,-7.20798085e-03,
 -1.21596414e-03, 6.67926469e-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,
  9.50242560e-02,-6.99984317e-02, 1.30434244e-01, 9.98649655e-01,
  2.55366808e-04,-3.81491134e-04,-5.19485815e-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, -1.38743641,  3.00576205, -0.60302043,-38.96676133,
 -29.08461172, -1.79456179]

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([ 6.20860535, -0.96737253,  6.13277839, -0.96737253, 42.45188203,
        5.71694392,  6.13277839,  5.71694392,  7.11038495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005731769115791541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.98747046e-14,  9.68481984e-14,  1.00000000e+00, -9.67268520e-27,
        1.00000000e+00, -9.68481984e-14, -1.00000000e+00,  0.00000000e+00,
        9.98747046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10606152, -0.09428382,  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:
[-1.42343610e-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,
 -5.55809449e-06, 1.02800610e-05,-4.90500083e+00,-7.20738811e-03,
 -1.21998192e-03, 5.29113285e-06]


--- 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,
  9.50134974e-02,-6.99767659e-02, 1.30431888e-01, 9.98643317e-01,
  1.08305874e-04,-4.88733335e-04,-5.20698942e-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 , -1.37406204,  2.95854988, -0.73811045,-38.68307303,
 -28.1777153 , -2.20765733]

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([ 6.16566624, -0.57174306,  6.13910011, -0.57174306, 53.66471312,
        4.42365327,  6.13910011,  4.42365327,  6.57764732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000568024772550732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46589957e-13,  2.44316595e-14,  1.00000000e+00, -3.58143590e-27,
        1.00000000e+00, -2.44316595e-14, -1.00000000e+00,  0.00000000e+00,
        1.46589957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10605849, -0.09428815,  0.06198245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.21407175e-05, 3.28415918e-05,-4.90502759e+00,-7.20197213e-03,
 -1.22059501e-03, 6.84602881e-06]


--- 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,
  9.50091828e-02,-6.99613741e-02, 1.30431856e-01, 9.98636968e-01,
 -1.15605698e-06,-5.37311643e-04,-5.21911646e-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,
  1.61098396e+00,-1.56850564e+00, 5.81269739e-01, 1.72466961e+01,
  3.02710401e+01, 8.41497817e-03]

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([ 6.21358017, -3.00831008,  5.43678665, -3.00831008, 29.82223771,
       13.06326089,  5.43678665, 13.06326089, 13.44180925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005737735311645148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83737470e-14,  1.93494988e-13,  1.00000000e+00,  9.36007758e-27,
        1.00000000e+00, -1.93494988e-13, -1.00000000e+00,  0.00000000e+00,
       -4.83737470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08348802, -0.05693943,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.57598826e-05, 6.68509252e-05,-4.90511204e+00,-7.19172627e-03,
 -1.21801687e-03, 1.11752605e-05]


--- 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,
  9.50112149e-02,-6.99521015e-02, 1.30433346e-01, 9.98630588e-01,
 -7.30493115e-05,-5.29820642e-04,-5.23131269e-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,  1.58666384, -1.52980603,  0.38025107, 17.29538768,
  28.97681106, -0.35628835]

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([ 6.24663505,  2.0021176 , -5.91709173,  2.0021176 , 41.56485851,
       11.95033643, -5.91709173, 11.95033643, 10.29017198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000577736412678026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80419357e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.80419357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349343, -0.05693725,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.83251383e-05, 3.67583969e-05,-4.90504821e+00,-7.18672321e-03,
 -1.21273441e-03, 9.12564328e-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,
  9.50195099e-02,-6.99488184e-02, 1.30435659e-01, 9.98624153e-01,
 -1.07449702e-04,-4.68359555e-04,-5.24363488e-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,  1.56574643, -1.49737947,  0.20579595, 17.30875258,
  27.92880564, -0.63835302]

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([ 6.24765405,  1.77913042, -5.98897955,  1.77913042, 52.67111102,
       13.79089442, -5.98897955, 13.79089442, 10.34447883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005778585451602924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.60635638e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.60635638e-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([ 0.08349713, -0.05693495,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.72649492e-05, 1.04896201e-05,-4.90501496e+00,-7.18380011e-03,
 -1.21102982e-03, 7.43057492e-06]


--- 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,
  9.50339973e-02,-6.99514171e-02, 1.30438192e-01, 9.98617633e-01,
 -1.04455212e-04,-3.54619123e-04,-5.25612673e-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, 1.54808797,-1.47043742,
  0.05512744,17.30064483,27.08420534,-0.85532398]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005748933222659014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82795234e-14,  9.65590468e-14,  1.00000000e+00,  4.66182476e-27,
        1.00000000e+00, -9.65590468e-14, -1.00000000e+00,  0.00000000e+00,
       -4.82795234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349946, -0.05693254,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.26083693e-05,-1.25629151e-05,-4.90500960e+00,-7.18299258e-03,
 -1.21274134e-03, 6.04977347e-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,
  9.50546187e-02,-6.99598089e-02, 1.30440427e-01, 9.98610991e-01,
 -6.41693289e-05,-1.89952309e-04,-5.26882162e-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,  1.53349573, -1.44827909, -0.07446463, 17.28117773,
  26.40811792, -1.02095874]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005694859721042528
  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([ 0.08350072, -0.05693006,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.62532766e-06,-3.28368548e-05,-4.90503017e+00,-7.18432326e-03,
 -1.21774113e-03, 4.95130579e-06]


--- 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,
  9.50813271e-02,-6.99739219e-02, 1.30441920e-01, 9.98604184e-01,
  1.33107241e-05, 2.45682009e-05,-5.28174478e-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,  1.52175444, -1.4302893 , -0.18553545, 17.25768024,
  25.87212924, -1.14604176]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005621859543838703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93708094e-14, -9.87416189e-14,  1.00000000e+00,  4.87495365e-27,
        1.00000000e+00,  9.87416189e-14, -1.00000000e+00,  0.00000000e+00,
        4.93708094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08350114, -0.05692751,  0.06198263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.74306694e-05,-5.06435687e-05,-4.90507522e+00,-7.18780604e-03,
 -1.22592883e-03, 4.11075791e-06]


--- 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,
  9.51023849e-02,-6.99754000e-02, 1.30442539e-01, 9.98597275e-01,
  8.41953221e-06, 1.79921121e-04,-5.29476199e-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, -1.41265302,  3.15872229, -0.21859563,-39.56558257,
 -31.71782645, -0.47290159]

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([ 6.08896089,  3.02497081, -5.28441068,  3.02497081, 24.9475879 ,
       10.79529954, -5.28441068, 10.79529954, 12.26854608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000558807069429873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.76083362e-14, -1.98677341e-13,  1.00000000e+00,  1.54190178e-26,
        1.00000000e+00,  1.98677341e-13, -1.00000000e+00,  0.00000000e+00,
        7.76083362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10601757, -0.09431662,  0.06198273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.28187074e-05,-6.61985786e-05,-4.90514369e+00,-7.19344898e-03,
 -1.23722635e-03, 3.51031436e-06]


--- 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,
  9.51178715e-02,-6.99645207e-02, 1.30441543e-01, 9.98590209e-01,
 -7.81372230e-05, 2.78958269e-04,-5.30802239e-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, -1.39279184,  3.08934151, -0.40374029,-39.28439221,
 -30.28038302, -1.22549694]

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([ 6.11364578, -1.54781462,  5.91446824, -1.54781462, 31.99840623,
        6.7740343 ,  5.91446824,  6.7740343 ,  7.88640859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005617757073698298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.88137267e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.88137267e-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([ 0.1060105 , -0.0943193 ,  0.06198264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.76970132e-06,-5.09485533e-05,-4.90506083e+00,-7.19084219e-03,
 -1.25158201e-03,-2.96859593e-06]


--- 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,
  9.51300783e-02,-6.99643532e-02, 1.30440750e-01, 9.98583537e-01,
 -8.31569689e-05, 3.67039478e-04,-5.32050496e-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, -0.81996685, -2.67795208,  0.05075999, 41.00073218,
  -3.30660479,  3.90506139]

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([ 6.12853127, -0.71557745,  6.0866119 , -0.71557745, 28.51802452,
        2.63223887,  6.0866119 ,  2.63223887,  6.43799256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005635647755087153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85000370e-14,  1.97000074e-13,  1.00000000e+00, -1.94045146e-26,
        1.00000000e+00, -1.97000074e-13, -1.00000000e+00,  0.00000000e+00,
        9.85000370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10092469, -0.04680447,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.86734236e-05,-2.55912596e-05,-4.90504360e+00,-7.18348220e-03,
 -1.26230017e-03,-6.33695275e-06]


--- 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,
  9.51391012e-02,-6.99747173e-02, 1.30439446e-01, 9.98577209e-01,
 -8.48926209e-06, 4.42767443e-04,-5.33231757e-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,-0.79596053,-2.6328839 ,
 -0.12763899,40.11470159,-4.04832657, 3.36831603]

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([  6.14387696,  -2.97267026,  -5.3768444 ,  -2.97267026,
        34.92760203, -15.91352048,  -5.3768444 , -15.91352048,
        14.94190896,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005654083605462629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90894326e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.90894326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10093044, -0.04680642,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.00341144e-06,-2.30342203e-05,-4.90501625e+00,-7.18256465e-03,
 -1.26258835e-03,-5.61851886e-06]


--- 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,
  9.51424772e-02,-6.99725757e-02, 1.30437210e-01, 9.98570708e-01,
 -1.89635492e-05, 4.61126383e-04,-5.34446192e-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, -1.41171217,  3.12641206, -0.23328868,-40.98014448,
 -30.91366956, -1.6800357 ]

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([ 6.18630409,  0.12763631, -6.18498725,  0.12763631, 41.69245773,
        0.7327217 , -6.18498725,  0.7327217 ,  6.20142488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005705016485234721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.73023503e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.73023503e-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([ 0.10599136, -0.09432373,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.43170372e-05,-1.13612127e-05,-4.90502966e+00,-7.18658811e-03,
 -1.26307320e-03,-4.96519432e-06]


--- 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,
  9.51402853e-02,-6.99581805e-02, 1.30433300e-01, 9.98563981e-01,
 -1.13277370e-04, 4.24587493e-04,-5.35703471e-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, -1.39199486,  3.06339381, -0.41824843,-40.39186916,
 -29.64997547, -2.16505236]

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([ 6.2044899 ,  0.10556532,  6.20359178,  0.10556532, 41.22064472,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005726833130606512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69316723e-14, -9.69316723e-14,  1.00000000e+00,  9.39574909e-27,
        1.00000000e+00,  9.69316723e-14, -1.00000000e+00,  0.00000000e+00,
        9.69316723e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10598585, -0.09432465,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.01066560e-06, 3.81827638e-06,-4.90499964e+00,-7.18429228e-03,
 -1.26869520e-03,-6.76089190e-06]


--- 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,
  9.51347505e-02,-6.99547231e-02, 1.30430184e-01, 9.98557666e-01,
 -1.26779697e-04, 3.77346383e-04,-5.36882546e-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,-0.83572796,-2.73444614,
  0.19846294,40.63274812,-3.17940625, 3.93220886]

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([ 6.22228988, -0.56281782,  6.19678363, -0.56281782, 30.73933874,
        2.22674097,  6.19678363,  2.22674097,  6.42453181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005748179345812648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82858553e-14,  9.65717106e-14,  1.00000000e+00, -4.66304764e-27,
        1.00000000e+00, -9.65717106e-14, -1.00000000e+00,  0.00000000e+00,
        4.82858553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10094863, -0.04681139,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.49240652e-05, 3.11791418e-05,-4.90503448e+00,-7.17698969e-03,
 -1.27089093e-03,-5.47285142e-06]


--- 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,
  9.51259709e-02,-6.99619803e-02, 1.30427049e-01, 9.98551708e-01,
 -6.11193559e-05, 3.17884691e-04,-5.37994568e-02]

qacc:
[ 4.26761751e+00,-1.18881006e+00, 3.81459916e+00,-3.64866246e+00,
 -3.04646301e+00,-1.06106271e+00,-3.07486443e-01, 1.16145776e+01,
 -3.41177924e+00,-1.39366690e+00, 5.46559239e+00,-8.11432769e+00,
 -1.20513323e+00, 1.41706271e+00, 9.71885955e+00,-3.75296640e+01,
 -8.11189991e-01,-2.67864753e+00,-4.68739086e-03, 3.98510525e+01,
 -3.97691769e+00, 3.37151289e+00]

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([  6.24999021,  -1.8020301 ,  -5.98456892,  -1.8020301 ,
        40.22298381, -10.22970204,  -5.98456892, -10.22970204,
         9.33028408,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005781385398221373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80085199e-14, -9.60170399e-14,  1.00000000e+00, -4.60963597e-27,
        1.00000000e+00,  9.60170399e-14, -1.00000000e+00,  0.00000000e+00,
       -4.80085199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10095462, -0.04681262,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.60401864e-06, 2.77814006e-05,-4.90501156e+00,-7.17627480e-03,
 -1.26316517e-03,-5.56640040e-06]


--- 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,
  9.51123107e-02,-6.99680830e-02, 1.30426664e-01, 9.98545726e-01,
 -1.06050582e-06, 2.21722849e-04,-5.39108909e-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, -1.22016272,  0.28863087,  0.68738439, -1.80942878,
 -18.47416664, -0.11843248]

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([ 6.24437939e+00, -3.23629154e-02, -6.24429553e+00, -3.23629154e-02,
        4.36205179e+01, -1.93712935e-01, -6.24429553e+00, -1.93712935e-01,
        6.24538337e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005774660526482096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61288564e-14,  3.72222948e-07,  1.00000000e+00, -3.57813663e-20,
        1.00000000e+00, -3.72222948e-07, -1.00000000e+00,  0.00000000e+00,
        9.61288564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346168, -0.07053734,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.96867509e-05, 3.38872344e-05,-4.90503016e+00,-7.18043891e-03,
 -1.25562555e-03,-5.65830085e-06]


--- 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,
  9.50931206e-02,-6.99620293e-02, 1.30424399e-01, 9.98539495e-01,
 -2.52828993e-05, 7.02997566e-05,-5.40265712e-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, -1.38245784,  3.03909705, -0.47000413,-40.58927574,
 -29.8622516 , -2.13604292]

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([ 6.25061759,  0.60195089, -6.22156534,  0.60195089, 19.15158628,
        1.24819866, -6.22156534,  1.24819866,  6.3713837 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005782137307015212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60045538e-14, -9.60045538e-14,  1.00000000e+00,  9.21687436e-27,
        1.00000000e+00,  9.60045538e-14, -1.00000000e+00,  0.00000000e+00,
        9.60045538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10596485, -0.09432738,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.62280001e-05, 4.59823361e-05,-4.90504886e+00,-7.18359511e-03,
 -1.25010985e-03,-4.70655778e-06]


--- 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,
  9.50690412e-02,-6.99548464e-02, 1.30424416e-01, 9.98533202e-01,
 -5.54154494e-05,-1.15614831e-04,-5.41426664e-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, -1.22232063,  0.28228672,  0.57047189, -2.01902005,
 -17.38020544, -0.20953876]

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([ 6.23167151, -0.33641807,  6.22258408, -0.33641807, 31.94981966,
        1.39042715,  6.22258408,  1.39042715,  6.30684362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005759427324525494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.64744780e-14,  8.05065075e-07,  1.00000000e+00, -4.54656299e-20,
        1.00000000e+00, -8.05065075e-07, -1.00000000e+00,  0.00000000e+00,
        5.64744780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346287, -0.07053812,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.48540285e-06, 6.54719711e-05,-4.90508653e+00,-7.18104834e-03,
 -1.24491071e-03,-4.37741304e-07]


--- 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,
  9.50513767e-02,-6.99539123e-02, 1.30426231e-01, 9.98526867e-01,
 -4.92999250e-05,-2.45900791e-04,-5.42589515e-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, 1.60370621,-1.56217082,
  0.44970065,16.59149984,28.75480224,-0.0964625 ]

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([ 6.23333857, -5.18049281,  3.46655505, -5.18049281, 15.52798058,
       13.89010858,  3.46655505, 13.89010858, 26.99100906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005761425836575962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63496759e-14, -1.92699352e-13,  1.00000000e+00,  1.85665201e-26,
        1.00000000e+00,  1.92699352e-13, -1.00000000e+00,  0.00000000e+00,
        9.63496759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354598, -0.05688968,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.00668788e-06, 7.87182181e-05,-4.90512702e+00,-7.17897960e-03,
 -1.23360418e-03, 2.55496579e-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,
  9.50400232e-02,-6.99590811e-02, 1.30429107e-01, 9.98520472e-01,
 -6.66432091e-06,-3.22581111e-04,-5.43761178e-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,  1.577745  , -1.5257536 ,  0.26503397, 16.77873766,
  27.75412176, -0.44471579]

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([ 6.24367554,  3.2468717 , -5.33303933,  3.2468717 , 42.26342766,
       21.92961771, -5.33303933, 21.92961771, 19.59490937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005773816885479149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61429022e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.61429022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354943, -0.05688641,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.11639735e-06, 5.77457480e-05,-4.90506467e+00,-7.18116825e-03,
 -1.22382604e-03, 3.07020469e-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,
  9.50348918e-02,-6.99702328e-02, 1.30432405e-01, 9.98513997e-01,
  7.26707599e-05,-3.47301913e-04,-5.44947041e-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, 1.55554463,-1.4957257 ,
  0.10562432,16.90968175,26.93910018,-0.71695462]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005753228946218658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82434749e-14, -9.64869498e-14,  1.00000000e+00,  4.65486574e-27,
        1.00000000e+00,  9.64869498e-14, -1.00000000e+00,  0.00000000e+00,
        4.82434749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08355157, -0.05688325,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27898967e-05, 4.02305261e-05,-4.90503124e+00,-7.18538538e-03,
 -1.21741840e-03, 3.80566300e-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,
  9.50359077e-02,-6.99872695e-02, 1.30435577e-01, 9.98507410e-01,
  1.88824252e-04,-3.21396075e-04,-5.46151293e-02]

qacc:
[  2.80197423,  1.43388938, -6.2050202 , 11.14039051,  1.2180477 ,
  -1.88046921,  9.08924825,-19.36315678,  4.98114659,  3.55728183,
 -12.40983268, 18.82958329, -1.98907837,  3.5714007 , -6.29151078,
  17.46384408,  1.53683069, -1.47122111, -0.0313962 , 17.00209261,
  26.27882249, -0.92929764]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570642043506292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86392055e-14, -9.72784110e-14,  1.00000000e+00,  4.73154462e-27,
        1.00000000e+00,  9.72784110e-14, -1.00000000e+00,  0.00000000e+00,
        4.86392055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08355269, -0.05688016,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.80165913e-05, 2.56827575e-05,-4.90502466e+00,-7.19167815e-03,
 -1.21426053e-03, 4.75691361e-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,
  9.50313859e-02,-6.99919503e-02, 1.30437142e-01, 9.98500702e-01,
  2.22935814e-04,-3.52993430e-04,-5.47373109e-02]

qacc:
[ -1.39964039,  1.5383741 , -7.70037084, 16.49766343, -2.36028441,
  -0.47320384,  2.82651612, -8.0177753 ,  6.07123762, -1.673045  ,
   6.77496418, -9.64197953, -1.17141822,  1.53466217, -3.90074208,
   8.11564566, -1.38444734,  3.08895167, -0.40196143,-39.38973694,
 -30.94923266, -0.86160735]

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([ 6.14090891,  3.0941683 , -5.30442124,  3.0941683 , 23.57041264,
       10.16695613, -5.30442124, 10.16695613, 12.07148492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000565051847574119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.9120405e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.9120405e-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([ 0.10593197, -0.09434527,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.68000077e-05, 1.37520192e-05,-4.90504336e+00,-7.20007992e-03,
 -1.21425636e-03, 5.91953120e-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,
  9.50213818e-02,-6.99845110e-02, 1.30436457e-01, 9.98493807e-01,
  1.75775712e-04,-4.39597826e-04,-5.48624861e-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, -1.37055738,  3.03002106, -0.56243265,-39.06994531,
 -29.68694733, -1.47919975]

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([ 6.13502414, -0.90242003,  6.0682913 , -0.90242003, 37.55931445,
        4.67312915,  6.0682913 ,  4.67312915,  6.82996858,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005643449042022353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91819372e-14, -7.37729057e-14,  1.00000000e+00,  3.62829441e-27,
        1.00000000e+00,  7.37729057e-14, -1.00000000e+00,  0.00000000e+00,
        4.91819372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10592618, -0.09434847,  0.06198256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.23273966e-05, 2.46863782e-05,-4.90501000e+00,-7.20066391e-03,
 -1.21680183e-03, 5.23148864e-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,
  9.50176754e-02,-6.99832320e-02, 1.30437151e-01, 9.98486881e-01,
  1.65867783e-04,-4.70347136e-04,-5.49881795e-02]

qacc:
[ -4.75199086, -2.75814231, 13.18262307,-27.39737403, -2.76595658,
   0.23543688, -1.81087106,  4.32819079, -4.01865959, -0.3526061 ,
   3.41243645,-12.36096132, -1.85898225,  2.96058573,  3.66366594,
 -19.40398159,  1.57441705, -1.54004987,  0.34473765, 17.06574661,
  28.90729905, -0.27266382]

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([ 6.15099169, -2.90601056,  5.42123615, -2.90601056, 26.78145777,
       11.0587974 ,  5.42123615, 11.0587974 , 12.07897216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005662628431135214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.80307147e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.80307147e-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([ 0.08356144, -0.05687178,  0.0619825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.61895174e-05, 4.68744209e-05,-4.90503803e+00,-7.19643250e-03,
 -1.21580030e-03, 7.57256510e-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,
  9.50201855e-02,-6.99879876e-02, 1.30438556e-01, 9.98479894e-01,
  1.93274471e-04,-4.47320853e-04,-5.51150084e-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,  1.55411833, -1.50867585,  0.17766802, 17.15030507,
  27.87293568, -0.58176295]

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([ 6.15355057,  2.02763669, -5.8098945 ,  2.02763669, 50.798477  ,
       15.58095261, -5.8098945 , 15.58095261, 11.59125882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005665701274444601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89887734e-14,  9.79775469e-14,  1.00000000e+00, -4.79979985e-27,
        1.00000000e+00, -9.79775469e-14, -1.00000000e+00,  0.00000000e+00,
        4.89887734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356521, -0.05686925,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.58935720e-06, 2.37990092e-05,-4.90500603e+00,-7.19746767e-03,
 -1.21188730e-03, 7.14575445e-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,
  9.50288431e-02,-6.99986744e-02, 1.30440093e-01, 9.98472812e-01,
  2.58013184e-04,-3.72195268e-04,-5.52434505e-02]

qacc:
[ 7.29982606e+00, 7.50234174e-01,-1.23142566e+00,-2.94239910e+00,
  8.83754039e-01, 1.79177455e-01, 3.17690875e+00,-1.54941986e+01,
  3.30275185e+00,-7.75585371e-01, 3.16409632e+00,-6.54244093e+00,
  3.51310224e-01,-2.29086684e+00,-1.33476098e+01, 4.03170834e+01,
  1.53687631e+00,-1.48277396e+00, 3.32102828e-02, 1.72015596e+01,
  2.70386531e+01,-8.21407602e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563910066680412
  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([ 0.08356764, -0.05686668,  0.06198258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.25960409e-05, 4.05157025e-06,-4.90500216e+00,-7.20059125e-03,
 -1.21136513e-03, 6.98644601e-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,
  9.50319604e-02,-6.99969586e-02, 1.30440090e-01, 9.98465616e-01,
  2.41103208e-04,-3.54373911e-04,-5.53735532e-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, -1.38507122,  3.10062012, -0.38513599,-39.17945126,
 -30.86386988, -0.80960047]

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([ 6.1206085 ,  3.02377893, -5.32152322,  3.02377893, 22.42017895,
        9.26168987, -5.32152322,  9.26168987, 11.38325635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005626126457280445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.70833845e-14, -2.96000197e-13,  1.00000000e+00,  2.28166970e-26,
        1.00000000e+00,  2.96000197e-13, -1.00000000e+00,  0.00000000e+00,
        7.70833845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10590212, -0.09436225,  0.06198262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.23620116e-05,-1.28193680e-05,-4.90502445e+00,-7.20583595e-03,
 -1.21411009e-03, 7.07594591e-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,
  9.50295985e-02,-6.99830809e-02, 1.30437895e-01, 9.98458234e-01,
  1.43197530e-04,-3.91385018e-04,-5.55065875e-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, -1.36978072,  3.04049271, -0.54805681,-38.91807402,
 -29.61706176, -1.44775026]

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([ 6.11757103, -1.2461539 ,  5.98930512, -1.2461539 , 37.13469446,
        6.45352148,  5.98930512,  6.45352148,  7.46031127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005622475550791789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87308006e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.87308006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10589638, -0.09436568,  0.06198263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.97069678e-06, 5.12428925e-06,-4.90499999e+00,-7.20300784e-03,
 -1.21985907e-03, 5.46131990e-06]


--- 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,
  9.50335510e-02,-6.99754091e-02, 1.30437330e-01, 9.98450829e-01,
  8.27499203e-05,-3.71379591e-04,-5.56398809e-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,  1.57856986, -1.55148491,  0.40753753, 17.11771214,
  29.50387619, -0.14137551]

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([ 6.13591255, -2.93468318,  5.38860441, -2.93468318, 25.98124977,
       10.80795192,  5.38860441, 10.80795192, 12.02202189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005644516379306463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83452744e-14, -9.83452744e-14,  1.00000000e+00,  9.67179300e-27,
        1.00000000e+00,  9.83452744e-14, -1.00000000e+00,  0.00000000e+00,
        9.83452744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08357941, -0.05685929,  0.06198256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.86165058e-05, 3.39003799e-05,-4.90503692e+00,-7.19540147e-03,
 -1.22209751e-03, 6.83224888e-06]


--- 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,
  9.50437390e-02,-6.99738096e-02, 1.30437694e-01, 9.98443368e-01,
  5.97789588e-05,-2.96635146e-04,-5.57740944e-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,  1.55889615, -1.51807139,  0.23232577, 17.18629084,
  28.36965819, -0.47013112]

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([ 6.14916057,  1.85296505, -5.8633349 ,  1.85296505, 46.94030964,
       12.89105515, -5.8633349 , 12.89105515, 10.22306647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005660429391428634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.80687990e-14, -9.80687990e-14,  1.00000000e+00,  9.61748934e-27,
        1.00000000e+00,  9.80687990e-14, -1.00000000e+00,  0.00000000e+00,
        9.80687990e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358395, -0.05685695,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.50666875e-05, 5.99450803e-06,-4.90501006e+00,-7.19331885e-03,
 -1.22100144e-03, 5.22828506e-06]


--- 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,
  9.50600958e-02,-6.99781713e-02, 1.30438380e-01, 9.98435810e-01,
  7.42597414e-05,-1.68984085e-04,-5.59097378e-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 ,  1.54217491, -1.49028391,  0.08042766, 17.22110431,
  27.45649203, -0.72365003]

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([ 6.13564773,  1.60050895, -5.92322076,  1.60050895, 59.42010585,
       14.39795271, -5.92322076, 14.39795271, 10.02610753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005644198222040098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.8350818e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.8350818e-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([ 0.08358698, -0.05685455,  0.06198256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.95353961e-06,-1.84203056e-05,-4.90501151e+00,-7.19331920e-03,
 -1.22338104e-03, 3.93126814e-06]


--- 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,
  9.50767181e-02,-6.99788975e-02, 1.30441369e-01, 9.98428238e-01,
  6.41018671e-05,-4.44952767e-05,-5.60450459e-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,  0.06639855,  0.90886171,  0.57586652,-12.2116295 ,
  -2.26741251,  0.16916804]

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([ 6.10201484,  2.888124  , -5.37525114,  2.888124  , 24.37101554,
        9.81593938, -5.37525114,  9.81593938, 11.37612191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005603772429434941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79823444e-14, -3.48890461e-07,  1.00000000e+00, -1.67405823e-20,
        1.00000000e+00,  3.48890461e-07, -1.00000000e+00,  0.00000000e+00,
       -4.79823444e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09457976, -0.07536262,  0.06198268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27253374e-05,-3.98423009e-05,-4.90503917e+00,-7.19543516e-03,
 -1.22909814e-03, 2.91211714e-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,
  9.50879364e-02,-6.99674215e-02, 1.30442134e-01, 9.98420535e-01,
 -2.62160423e-05, 2.41371317e-05,-5.61821581e-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, -1.35100599,  3.05053955, -0.55599607,-38.4518202 ,
 -30.1306508 , -0.90073859]

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([ 6.09972158,  3.24974206, -5.16195504,  3.24974206, 14.23636403,
        5.12247569, -5.16195504,  5.12247569,  9.32460916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005601014493071543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02206261e-13, -9.91091012e-14,  1.00000000e+00,  1.01295706e-26,
        1.00000000e+00,  9.91091012e-14, -1.00000000e+00,  0.00000000e+00,
        1.02206261e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10586497, -0.09438486,  0.06198269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.66088270e-07,-3.94942625e-05,-4.90503640e+00,-7.19423623e-03,
 -1.23826541e-03, 3.11431834e-07]


--- 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,
  9.50958233e-02,-6.99665207e-02, 1.30442692e-01, 9.98413244e-01,
 -3.56494544e-05, 8.16888322e-05,-5.63115035e-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, -0.83285743, -2.64377222, -0.05202286, 40.68955247,
  -3.25957723,  3.88968428]

qfrc_actuator:
[-2.35608485e-05,-3.67923420e-04,-2.51004228e-04,-5.78704935e-05,
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  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([ 6.08361142, -0.68951659,  6.04441021, -0.68951659, 28.09285871,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005581634242801115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94532225e-14, -9.94532225e-14,  1.00000000e+00,  9.89094347e-27,
        1.00000000e+00,  9.94532225e-14, -1.00000000e+00,  0.00000000e+00,
        9.94532225e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1010743 , -0.04683707,  0.06198275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.08712572e-05,-1.24826469e-05,-4.90503238e+00,-7.18665894e-03,
 -1.24713361e-03,-1.92006193e-06]


--- 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,
  9.51004690e-02,-6.99760333e-02, 1.30442390e-01, 9.98406313e-01,
  3.40355690e-05, 1.26715273e-04,-5.64341765e-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, -0.81028177, -2.60337929, -0.21474428, 39.84883905,
  -4.0251869 ,  3.34405739]

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([  6.08719875,  -3.05421608,  -5.26552493,  -3.05421608,
        34.45103395, -16.45216437,  -5.26552493, -16.45216437,
        15.63011531,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005585950630376674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49064559e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.49064559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1010802 , -0.04683871,  0.06198274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.90209518e-06,-1.11183524e-05,-4.90500507e+00,-7.18561989e-03,
 -1.24539373e-03,-1.39778537e-06]


--- 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,
  9.50996042e-02,-6.99731485e-02, 1.30440698e-01, 9.98399214e-01,
  1.95972500e-05, 1.14670797e-04,-5.65596642e-02]

qacc:
[-1.93213474e+00, 1.87504433e-01, 1.33858703e-01,-1.98571953e+00,
 -1.46361420e+00,-3.41871178e-02,-2.41585416e+00, 1.01120433e+01,
 -9.37639393e-01,-1.23059377e+00, 4.08398561e+00,-5.14750953e+00,
 -1.84770113e+00, 3.04346668e+00,-5.11663501e+00, 1.31776377e+01,
 -1.37763504e+00, 3.09937242e+00,-3.47603639e-01,-4.03840819e+01,
 -3.08637356e+01,-1.41419443e+00]

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([ 6.11406165,  0.09464883, -6.113329  ,  0.09464883, 39.07816965,
        0.51036255, -6.113329  ,  0.51036255,  6.12196327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005618257013717404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88049338e-14, -9.88049338e-14,  1.00000000e+00,  9.76241494e-27,
        1.00000000e+00,  9.88049338e-14, -1.00000000e+00,  0.00000000e+00,
        9.88049338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10584577, -0.0943925 ,  0.06198264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.07423082e-05,-6.27247945e-07,-4.90501825e+00,-7.18947936e-03,
 -1.24384559e-03,-9.20768584e-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,
  9.50932916e-02,-6.99580961e-02, 1.30436946e-01, 9.98391881e-01,
 -7.78519886e-05, 4.80063813e-05,-5.66890129e-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, -1.36196042,  3.04188737, -0.51476418,-39.89415234,
 -29.61381132, -1.93828506]

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([ 6.11992208e+00,  3.19283622e-02,  6.11983879e+00,  3.19283622e-02,
        4.04888509e+01, -1.79309234e-01,  6.11983879e+00, -1.79309234e-01,
        6.12085757e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005625301429090374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86812030e-14, -9.86812030e-14,  1.00000000e+00,  9.73797983e-27,
        1.00000000e+00,  9.86812030e-14, -1.00000000e+00,  0.00000000e+00,
        9.86812030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10584018, -0.09439409,  0.06198262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.14293265e-06, 1.63246902e-05,-4.90500207e+00,-7.18697311e-03,
 -1.24768165e-03,-1.59660882e-06]


--- 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,
  9.50835529e-02,-6.99539129e-02, 1.30433817e-01, 9.98384972e-01,
 -9.47893735e-05,-2.96009745e-05,-5.68105459e-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, -0.85651588, -2.71729535,  0.1554135 , 40.50119193,
  -3.18091706,  3.91509751]

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([ 6.14893881, -0.52477989,  6.12650426, -0.52477989, 30.33800696,
        2.07197058,  6.12650426,  2.07197058,  6.32641824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005660163068008373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90367067e-14, -9.80734134e-14,  1.00000000e+00, -4.80919721e-27,
        1.00000000e+00,  9.80734134e-14, -1.00000000e+00,  0.00000000e+00,
       -4.90367067e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10109873, -0.04684335,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.56503493e-05, 4.51162230e-05,-4.90504907e+00,-7.17952932e-03,
 -1.24806567e-03, 7.67470369e-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,
  9.50704839e-02,-6.99603850e-02, 1.30430528e-01, 9.98378427e-01,
 -3.28170203e-05,-1.19713358e-04,-5.69253981e-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, -0.83256283, -2.66383656, -0.03979193, 39.74647334,
  -4.00127428,  3.34361386]

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([  6.17554599,  -1.84661201,  -5.8929952 ,  -1.84661201,
        40.0285528 , -10.60808073,  -5.8929952 , -10.60808073,
         9.49966363,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005692106494420562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75230370e-14,  4.87615185e-14,  1.00000000e+00,  4.75537137e-27,
        1.00000000e+00, -4.87615185e-14, -1.00000000e+00,  0.00000000e+00,
       -9.75230370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1011048 , -0.04684463,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.06110031e-06, 4.06389442e-05,-4.90502661e+00,-7.17877616e-03,
 -1.23834160e-03, 5.01884760e-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,
  9.50637845e-02,-6.99730797e-02, 1.30428729e-01, 9.98371814e-01,
  6.57412338e-05,-1.56417495e-04,-5.70411389e-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, 1.59238616,-1.55563231,
  0.37231729,16.74309005,27.70216427,-0.44685344]

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([  6.17844769,  -4.70169971,  -4.00839565,  -4.70169971,
        20.77302506, -17.11889896,  -4.00839565, -17.11889896,
        26.25828242,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005695588913037508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87317046e-14,  9.74634091e-14,  1.00000000e+00,  4.74955806e-27,
        1.00000000e+00, -9.74634091e-14, -1.00000000e+00,  0.00000000e+00,
       -4.87317046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362002, -0.0568269 ,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.74710407e-05, 4.57498972e-05,-4.90504581e+00,-7.18287902e-03,
 -1.22879590e-03, 2.50043060e-07]


--- 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,
  9.50573521e-02,-6.99821587e-02, 1.30430016e-01, 9.98365196e-01,
  1.36903013e-04,-1.96028243e-04,-5.71566101e-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,  0.06675071,  0.90391517,  0.77176935,-13.59301466,
  -2.23229352,  0.13665751]

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([ 6.18156081,  3.21948026, -5.27699165,  3.21948026, 24.8335238 ,
       11.379519  , -5.27699165, 11.379519  , 13.12417874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005699324804772563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.02216286e-14, -3.62385344e-07,  1.00000000e+00,  1.81995821e-20,
        1.00000000e+00,  3.62385344e-07, -1.00000000e+00, -3.00926554e-36,
        5.02216286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09456965, -0.07535668,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.26535865e-05, 3.20773042e-05,-4.90503883e+00,-7.19040116e-03,
 -1.22504737e-03, 1.60518455e-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,
  9.50454575e-02,-6.99790022e-02, 1.30429419e-01, 9.98358369e-01,
  1.24950899e-04,-2.91219150e-04,-5.72753598e-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, -1.36556618,  3.05885782, -0.47132865,-39.90093003,
 -30.12014759, -1.63055786]

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([ 6.19249861,  3.63538886, -5.01308157,  3.63538886, 12.87190642,
        4.84377611, -5.01308157,  4.84377611,  9.70511046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005712448679080218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.71757548e-14,  4.85878774e-14,  1.00000000e+00, -4.72156366e-27,
        1.00000000e+00, -4.85878774e-14, -1.00000000e+00,  0.00000000e+00,
        9.71757548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10581063, -0.09439881,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.33716131e-05, 2.91616822e-05,-4.90502490e+00,-7.19479857e-03,
 -1.22431503e-03, 2.42767243e-06]


--- 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,
  9.50398500e-02,-6.99820383e-02, 1.30430143e-01, 9.98351499e-01,
  1.49979059e-04,-3.31478720e-04,-5.73947002e-02]

qacc:
[ 5.97766864e+00, 9.61646304e-01,-4.04264176e+00, 7.45239669e+00,
  5.14447924e+00, 8.46257000e-01,-3.38221433e+00, 5.54339566e+00,
 -3.79538012e+00,-1.56740608e+00, 6.04784405e+00,-9.36838405e+00,
 -5.96041353e-01,-2.36842835e-02,-2.50377309e+00, 3.64443440e+00,
  1.57178991e+00,-1.54811849e+00, 3.30497041e-01, 1.68865942e+01,
  2.84795660e+01,-3.04926423e-01]

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([ 6.18970003, -2.82399771,  5.50794184, -2.82399771, 27.40663393,
       10.8782145 ,  5.50794184, 10.8782145 , 11.76711056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005709091054401233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86164529e-14,  9.72329057e-14,  1.00000000e+00, -4.72711898e-27,
        1.00000000e+00, -9.72329057e-14, -1.00000000e+00,  0.00000000e+00,
        4.86164529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362912, -0.05681752,  0.06198236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.34306752e-06, 4.60310168e-05,-4.90503714e+00,-7.19283687e-03,
 -1.22269003e-03, 4.57567175e-06]


--- 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,
  9.50404446e-02,-6.99911405e-02, 1.30431522e-01, 9.98344555e-01,
  2.12132110e-04,-3.18711431e-04,-5.75152322e-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,
  1.55054203e+00,-1.51653426e+00, 1.63651168e-01, 1.70099226e+01,
  2.75350070e+01,-6.07055567e-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([ 6.18662508,  2.50959995, -5.65475357,  2.50959995, 51.48841808,
       20.10509846, -5.65475357, 20.10509846, 15.10934   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005705401632467716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86478909e-14, -9.72957818e-14,  1.00000000e+00, -4.73323458e-27,
        1.00000000e+00,  9.72957818e-14, -1.00000000e+00,  0.00000000e+00,
       -4.86478909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08363229, -0.05681465,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.45391423e-06, 2.65785120e-05,-4.90501086e+00,-7.19594641e-03,
 -1.21842615e-03, 4.79002289e-06]


--- 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,
  9.50355656e-02,-6.99879146e-02, 1.30431171e-01, 9.98337444e-01,
  1.91895657e-04,-3.62044512e-04,-5.76383562e-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, -1.36842431,  3.08200478, -0.43245195,-39.51363841,
 -30.37337699, -1.27961014]

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([ 6.18503524,  3.06804767, -5.37045105,  3.06804767, 22.23591868,
        9.16959767, -5.37045105,  9.16959767, 11.42347098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005703493995486836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73283241e-14,  7.29962431e-14,  1.00000000e+00, -7.10460201e-27,
        1.00000000e+00, -7.29962431e-14, -1.00000000e+00,  0.00000000e+00,
        9.73283241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10579368, -0.09440655,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.48106093e-05, 1.03058607e-05,-4.90501213e+00,-7.20113451e-03,
 -1.21749708e-03, 5.24048281e-06]


--- 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,
  9.50308886e-02,-6.99811133e-02, 1.30433365e-01, 9.98330313e-01,
  1.44994252e-04,-4.06119595e-04,-5.77615751e-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,  0.05051387,  0.89387399,  0.63622584,-13.28894163,
  -1.13885878, -0.04302526]

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([ 6.17328981, -2.65840665,  5.57156901, -2.65840665, 27.78452408,
       10.31153861,  5.57156901, 10.31153861, 11.09331553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000568939861902779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.90939759e-14,  6.34207300e-07,  1.00000000e+00, -6.28461229e-20,
        1.00000000e+00, -6.34207300e-07, -1.00000000e+00,  0.00000000e+00,
        9.90939759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09456412, -0.07535546,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.40237379e-06, 2.80177224e-05,-4.90501092e+00,-7.19843172e-03,
 -1.21920727e-03, 5.74040923e-06]


--- 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,
  9.50323829e-02,-6.99803902e-02, 1.30436252e-01, 9.98323135e-01,
  1.35187744e-04,-3.95935353e-04,-5.78856006e-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, 1.54282686,-1.51955809,
  0.17328067,16.94926775,28.15562595,-0.41545273]

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([ 6.17601294, -2.92714831,  5.43828452, -2.92714831, 23.40567763,
        9.27384061,  5.43828452,  9.27384061, 11.16764343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005692666901385562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95026873e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95026873e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08364294, -0.05680636,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.69478094e-05, 2.92052796e-05,-4.90501654e+00,-7.19563275e-03,
 -1.21784897e-03, 6.60274524e-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,
  9.50399824e-02,-6.99856364e-02, 1.30439256e-01, 9.98315876e-01,
  1.62545152e-04,-3.33297692e-04,-5.80109770e-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,
  1.52627217e+00,-1.49232972e+00, 2.91531971e-02, 1.70323875e+01,
  2.72582518e+01,-6.87545265e-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([ 6.15193098,  1.87292185, -5.85989918,  1.87292185, 58.09302454,
       16.60124282, -5.85989918, 16.60124282, 11.45796603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000566375639681066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.80111914e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.80111914e-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([ 0.08364572, -0.05680353,  0.0619825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.04557045e-06, 7.33398958e-06,-4.90499959e+00,-7.19649062e-03,
 -1.21649236e-03, 5.93371307e-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,
  9.50536316e-02,-6.99967629e-02, 1.30441880e-01, 9.98308499e-01,
  2.27098004e-04,-2.19652812e-04,-5.81381245e-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,  1.51246744, -1.47004946, -0.09481399, 17.08662672,
  26.53936683, -0.89784619]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005611478224543942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.94621462e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.94621462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08364737, -0.05680073,  0.06198266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.43690464e-05,-1.15252567e-05,-4.90500914e+00,-7.19943884e-03,
 -1.21844385e-03, 5.52052973e-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,
  9.50618305e-02,-6.99954559e-02, 1.30442944e-01, 9.98301012e-01,
  2.09991008e-04,-1.63153384e-04,-5.82667927e-02]

qacc:
[ 1.54897089e-01, 2.79092022e+00,-1.10261800e+01, 1.73191162e+01,
 -3.62036019e-02,-7.12987756e-01, 3.26032935e+00,-5.43520724e+00,
 -7.27428578e+00,-1.17606472e+00, 5.64389979e+00,-1.06955885e+01,
 -2.80517566e-01,-9.66148942e-01, 2.72066404e+00,-1.39455381e+01,
 -1.36262094e+00, 3.10833141e+00,-3.90091719e-01,-3.90998503e+01,
 -3.08983555e+01,-7.46822095e-01]

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([ 6.12503108,  2.9940632 , -5.3433689 ,  2.9940632 , 23.49055418,
        9.73046679, -5.3433689 ,  9.73046679, 11.57732775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005631441614554755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.62063783e-14, -9.85736070e-14,  1.00000000e+00, -4.55472937e-27,
        1.00000000e+00,  9.85736070e-14, -1.00000000e+00,  0.00000000e+00,
       -4.62063783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10576417, -0.09442563,  0.0619826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.53103600e-05,-2.77366345e-05,-4.90504362e+00,-7.20450557e-03,
 -1.22359640e-03, 5.34730905e-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,
  9.50646394e-02,-6.99819568e-02, 1.30441800e-01, 9.98293344e-01,
  1.11853915e-04,-1.61281846e-04,-5.83982983e-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, -1.34746391,  3.04806616, -0.55218311,-38.85493068,
 -29.62853406, -1.40920736]

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([ 6.12084825, -1.2635149 ,  5.98901606, -1.2635149 , 36.40936767,
        6.39003058,  5.98901606,  6.39003058,  7.468966  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005626414600770069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08317747e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.08317747e-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([ 0.1057583 , -0.09442917,  0.06198262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.37518673e-06,-1.07713499e-05,-4.90500537e+00,-7.20153921e-03,
 -1.23167638e-03, 2.44609178e-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,
  9.50621114e-02,-6.99564656e-02, 1.30437885e-01, 9.98285411e-01,
 -6.67523541e-05,-2.12014072e-04,-5.85336622e-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, -1.33423046,  2.99800614, -0.69252769,-38.63023281,
 -28.60686225, -1.92414653]

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([ 6.09158819, -0.92861397,  6.02039224, -0.92861397, 46.12146071,
        6.1743982 ,  6.02039224,  6.1743982 ,  7.04395677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005591231431337773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.48206285e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.48206285e-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([ 0.10575421, -0.09443329,  0.06198272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.03355564e-05, 1.68296042e-05,-4.90502898e+00,-7.19381686e-03,
 -1.23624065e-03, 2.53236399e-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,
  9.50659632e-02,-6.99373410e-02, 1.30436356e-01, 9.98277468e-01,
 -2.07675130e-04,-2.03538798e-04,-5.86686583e-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,  1.59492753, -1.59164343,  0.59640526, 17.07666374,
  30.65585543,  0.18129454]

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([ 6.14310034, -2.92250499,  5.40339212, -2.92250499, 27.78516303,
       11.70543148,  5.40339212, 11.70543148, 12.47415704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005653150780731142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90975328e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.90975328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08366562, -0.05679073,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.09947639e-05, 5.54133926e-05,-4.90511129e+00,-7.18130814e-03,
 -1.23753581e-03, 5.42761883e-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,
  9.50692606e-02,-6.99291754e-02, 1.30435717e-01, 9.98269773e-01,
 -2.68163012e-04,-1.83874334e-04,-5.87992683e-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,
 -1.38577907e-01,-2.73975687e+00, 2.22610215e-01, 3.98204159e+01,
  7.94403124e+00, 2.18946068e+00]

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([ 6.19148609,  5.96646454,  1.65402566,  5.96646454,  8.00265762,
       -6.53332711,  1.65402566, -6.53332711, 29.75875318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00057112339234512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18531016e-06,  1.18531010e-06,  1.00000000e+00, -1.40496010e-12,
        1.00000000e+00, -1.18531010e-06, -1.00000000e+00,  0.00000000e+00,
        1.18531016e-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([ 0.09584436, -0.04682014,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.05384597e-05, 2.09300293e-05,-4.90506015e+00,-7.17441774e-03,
 -1.23536822e-03, 2.46472423e-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,
  9.50718452e-02,-6.99318809e-02, 1.30435104e-01, 9.98262297e-01,
 -2.48727768e-04,-1.56382611e-04,-5.89262176e-02]

qacc:
[ 2.00642018e+00,-7.70539202e-01, 3.85125509e+00,-7.39724173e+00,
  2.40947015e+00,-1.49384826e+00, 4.89202178e+00,-5.03409345e+00,
 -2.39261510e+00,-1.48522235e+00, 9.05734647e+00,-2.09759128e+01,
 -7.37877041e-01, 9.61684442e-02, 3.59491666e+00,-1.62853267e+01,
 -1.78196928e-01,-2.71778351e+00, 6.37782040e-03, 3.96626681e+01,
  6.25609804e+00, 1.82734484e+00]

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([ 6.22082801, -1.54445088, -6.0260578 , -1.54445088, 41.08197164,
       -8.93475067, -6.0260578 , -8.93475067,  8.51076349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005746426501837404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.66011681e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.66011681e-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([ 0.09623087, -0.04651012,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.46597045e-05, 5.71301688e-06,-4.90501015e+00,-7.17111557e-03,
 -1.23120951e-03, 1.94420004e-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,
  9.50737574e-02,-6.99452732e-02, 1.30433835e-01, 9.98254988e-01,
 -1.50812666e-04,-1.22575440e-04,-5.90503307e-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, -0.16810735, -2.67169871, -0.16405869, 38.98591151,
   5.46415803,  1.41519132]

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([  6.21816811,  -2.13904812,  -5.83867175,  -2.13904812,
        46.39962523, -14.72082594,  -5.83867175, -14.72082594,
        11.61127059,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005743237032812265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83274074e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.83274074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623583, -0.04651013,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.45801142e-06, 1.84166402e-06,-4.90500118e+00,-7.17257405e-03,
 -1.22818394e-03, 2.00905922e-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,
  9.50737471e-02,-6.99690748e-02, 1.30431320e-01, 9.98247869e-01,
  2.48512885e-05,-9.36258226e-05,-5.91707846e-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, -0.48063706, -2.6023077 , -0.31133831, 38.95024945,
  -0.12925528,  1.82696268]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005709420019023986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63222890e-09, -9.72273034e-14,  1.00000000e+00, -8.39288338e-22,
        1.00000000e+00,  9.72273034e-14, -1.00000000e+00,  0.00000000e+00,
       -8.63222890e-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([ 0.09870207, -0.04668892,  0.06198236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.16256334e-05, 8.03532638e-06,-4.90503159e+00,-7.17877316e-03,
 -1.22616974e-03, 2.51021507e-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,
  9.50739846e-02,-6.99890869e-02, 1.30432144e-01, 9.98240748e-01,
  1.72133288e-04,-7.04969473e-05,-5.92905935e-02]

qacc:
[ -1.33933178, -1.34386279,  3.35600381, -0.37251056,  3.60940667,
  -1.22571395,  8.42750826,-22.70904216,  3.68509178,  1.0904819 ,
  -3.0772217 ,  0.70306936, -1.34821347,  1.91274925, -5.75666291,
  14.74029869,  0.06196107,  0.94736935,  0.83464825,-13.99387411,
  -3.74495507,  0.32321499]

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([ 6.15609165, -1.22038708, -6.03391413, -1.22038708, 42.87445569,
       -7.4264592 , -6.03391413, -7.4264592 ,  7.65812742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00056687525292386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97834753e-07,  8.29109472e-14,  1.00000000e+00, -4.12759509e-20,
        1.00000000e+00, -8.29109472e-14, -1.00000000e+00,  0.00000000e+00,
        4.97834753e-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([ 0.09470476, -0.07562438,  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:
[-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,
 -7.00722270e-05, 2.72068163e-05,-4.90509868e+00,-7.18945600e-03,
 -1.22445663e-03, 3.09959961e-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,
  9.50687140e-02,-6.99965208e-02, 1.30432064e-01, 9.98233464e-01,
  2.34063227e-04,-1.05589913e-04,-5.94128380e-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, -1.37703054,  3.14454328, -0.22596822,-40.87502106,
 -31.59020991, -1.2124622 ]

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([ 6.21458946,  3.84674254, -4.88095217,  3.84674254, 16.23037211,
        7.8935699 , -4.88095217,  7.8935699 , 12.43561562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005738945666727557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02272155e-15,  9.67270897e-14,  1.00000000e+00, -2.92379059e-28,
        1.00000000e+00, -9.67270897e-14, -1.00000000e+00,  0.00000000e+00,
        3.02272155e-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([ 0.10570543, -0.09444454,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.80490567e-05, 2.17461183e-05,-4.90506918e+00,-7.19822386e-03,
 -1.22800777e-03, 2.46876021e-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,
  9.50580031e-02,-6.99916362e-02, 1.30430335e-01, 9.98225960e-01,
  2.11976079e-04,-1.96215273e-04,-5.95386292e-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, -1.36006425,  3.07962286, -0.41211658,-40.28482693,
 -30.21342055, -1.76580832]

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([ 6.23293778,  0.06427137,  6.2326064 ,  0.06427137, 36.84833106,
       -0.31570955,  6.2326064 , -0.31570955,  6.23619341,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005760945368550735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51676773e-14, -9.63577116e-14,  1.00000000e+00, -4.35225402e-27,
        1.00000000e+00,  9.63577116e-14, -1.00000000e+00,  0.00000000e+00,
       -4.51676773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10569911, -0.09444552,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.18731728e-05, 2.85929995e-05,-4.90501970e+00,-7.20051223e-03,
 -1.23054181e-03, 1.42045842e-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,
  9.50419108e-02,-6.99746518e-02, 1.30426311e-01, 9.98218165e-01,
  1.07015651e-04,-3.40208290e-04,-5.96688173e-02]

qacc:
[  3.74917316,  0.2059885 , -0.27870635, -1.37035018,  5.72893123,
   0.49326862, -3.66668617, 11.2066654 , -3.22843413,  1.10498273,
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  -3.36835874, -1.34535429,  3.02496684, -0.57386293,-39.7748121 ,
 -29.10406589, -2.18947144]

qfrc_actuator:
[ 1.46070989e-05,-3.98554876e-04,-2.80359871e-04,-7.60321435e-05,
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 -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,
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Contact:
<MjContact
  H: array([ 6.2201128 ,  0.38439747,  6.20822372,  0.38439747, 45.63272773,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005745568907146031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96348240e-14, -9.66155869e-14,  1.00000000e+00,  9.62627701e-27,
        1.00000000e+00,  9.66155869e-14, -1.00000000e+00,  0.00000000e+00,
        9.96348240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10569468, -0.09444768,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.14601502e-06, 4.77236670e-05,-4.90503552e+00,-7.19782376e-03,
 -1.22947587e-03, 3.55353649e-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,
  9.50322266e-02,-6.99641283e-02, 1.30424940e-01, 9.98210375e-01,
  3.93910817e-05,-4.25355173e-04,-5.97985291e-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,
  1.60201955e+00,-1.61523855e+00, 6.63089272e-01, 1.68791075e+01,
  3.04845597e+01, 2.28415922e-01]

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([ 6.22915972, -2.8666562 ,  5.53034474, -2.8666562 , 28.83639285,
       11.7184675 ,  5.53034474, 11.7184675 , 12.3034316 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005756416021069077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82167646e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.82167646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08369616, -0.05676219,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.35451559e-05, 7.90504967e-05,-4.90511242e+00,-7.19017698e-03,
 -1.22506364e-03, 8.63623672e-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,
  9.50288450e-02,-6.99598963e-02, 1.30425367e-01, 9.98202563e-01,
  9.24244479e-06,-4.54327376e-04,-5.99285975e-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,  1.57564913, -1.57286997,  0.44970364, 17.02477549,
  29.15756544, -0.18772498]

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([ 6.27217366,  2.53745738, -5.73598052,  2.53745738, 37.02149669,
       13.60274782, -5.73598052, 13.60274782, 12.28969633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005807968467209795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77887850e-14,  9.55775699e-14,  1.00000000e+00, -4.56753594e-27,
        1.00000000e+00, -9.55775699e-14, -1.00000000e+00,  0.00000000e+00,
        4.77887850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08370189, -0.05675958,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.44101107e-05, 4.96887558e-05,-4.90504457e+00,-7.18802130e-03,
 -1.21752711e-03, 7.56251281e-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,
  9.50316747e-02,-6.99618141e-02, 1.30426852e-01, 9.98194696e-01,
  1.66269782e-05,-4.29292233e-04,-6.00596692e-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,  1.55284821, -1.53746451,  0.26437163, 17.11433355,
  28.0797736 , -0.51116668]

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([ 6.28084001,  2.3281496 , -5.83340987,  2.3281496 , 47.24435475,
       16.34878958, -5.83340987, 16.34878958, 12.80574205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005818351671423166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54070059e-14, -1.90814012e-13,  1.00000000e+00,  1.82049936e-26,
        1.00000000e+00,  1.90814012e-13, -1.00000000e+00,  0.00000000e+00,
        9.54070059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08370584, -0.05675694,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17387228e-05, 2.44791193e-05,-4.90500796e+00,-7.18789048e-03,
 -1.21358031e-03, 6.79274618e-06]


--- 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,
  9.50406383e-02,-6.99697645e-02, 1.30428753e-01, 9.98186739e-01,
  6.15511794e-05,-3.52000993e-04,-6.01922445e-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,  1.53346133, -1.50812804,  0.10420613, 17.1663848 ,
  27.20815803, -0.76162292]

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([ 6.26178318,  2.04861758, -5.91718637,  2.04861758, 60.62671059,
       18.82194325, -5.91718637, 18.82194325, 12.77821877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005795518192036331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57828953e-14, -9.57828953e-14,  1.00000000e+00,  9.17436304e-27,
        1.00000000e+00,  9.57828953e-14, -1.00000000e+00,  0.00000000e+00,
        9.57828953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08370838, -0.05675424,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.46757933e-06, 2.74854993e-06,-4.90499979e+00,-7.18983575e-03,
 -1.21305944e-03, 6.30117902e-06]


--- 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,
  9.50556711e-02,-6.99836511e-02, 1.30430520e-01, 9.98178650e-01,
  1.43994236e-04,-2.23860590e-04,-6.03267080e-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, 1.51728062,-1.48406868,
 -0.03363274,17.19472132,26.5075709 ,-0.954558  ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005746288978133313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.660348e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        9.660348e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0837098 , -0.05675151,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.42080663e-05,-1.59871051e-05,-4.90501799e+00,-7.19389177e-03,
 -1.21583443e-03, 6.06639371e-06]


--- 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,
  9.50652635e-02,-6.99849194e-02, 1.30431166e-01, 9.98170470e-01,
  1.43953175e-04,-1.54059608e-04,-6.04621279e-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, -1.36007823,  3.15459097, -0.28043433,-39.40733089,
 -31.60465957, -0.46664997]

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([ 6.18583133,  3.01930552, -5.39891687,  3.01930552, 23.36437993,
        9.60698005, -5.39891687,  9.60698005, 11.55846599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005704449223435659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86560131e-14,  7.29840197e-14,  1.00000000e+00, -3.55111142e-27,
        1.00000000e+00, -7.29840197e-14, -1.00000000e+00,  0.00000000e+00,
        4.86560131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10565759, -0.0944676 ,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.74891512e-05,-3.20721578e-05,-4.90506104e+00,-7.20008170e-03,
 -1.22180269e-03, 6.07166844e-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,
  9.50694821e-02,-6.99738369e-02, 1.30429973e-01, 9.98162122e-01,
  6.21558943e-05,-1.39817839e-04,-6.05999498e-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, -1.34346514,  3.08768332, -0.45953671,-39.12388103,
 -30.2005459 , -1.19354488]

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([ 6.19460196, -1.35193721,  6.04527577, -1.35193721, 32.86374602,
        5.96416269,  6.04527577,  5.96416269,  7.52839942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005714972057589279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.16018255e-14, -9.71328480e-14,  1.00000000e+00,  5.01223227e-27,
        1.00000000e+00,  9.71328480e-14, -1.00000000e+00,  0.00000000e+00,
        5.16018255e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10565083, -0.09447075,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.84442001e-06,-1.59754783e-05,-4.90500830e+00,-7.19796322e-03,
 -1.23105611e-03, 2.43061875e-06]


--- 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,
  9.50738343e-02,-6.99590271e-02, 1.30431320e-01, 9.98153732e-01,
 -4.72642192e-05,-1.26241209e-04,-6.07380442e-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,  0.03341585,  0.93184158,  0.6350721 ,-13.7658969 ,
  -1.16894084, -0.13536071]

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([ 6.17091585, -2.72453595,  5.53688597, -2.72453595, 26.26268413,
        9.88655812,  5.53688597,  9.88655812, 11.03579534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005686549227812955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09805370e-06, -1.05530767e-13,  1.00000000e+00,  1.15878449e-19,
        1.00000000e+00,  1.05530767e-13, -1.00000000e+00,  0.00000000e+00,
        1.09805370e-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([ 0.0946913 , -0.07562377,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.54616511e-05, 1.06393681e-05,-4.90501926e+00,-7.19108550e-03,
 -1.23667137e-03, 1.87405252e-06]


--- 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,
  9.50843405e-02,-6.99503584e-02, 1.30433528e-01, 9.98145302e-01,
 -1.19672117e-04,-5.69449625e-05,-6.08764133e-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,  1.53849182, -1.53529186,  0.21507111, 16.77977204,
  28.93240061, -0.13928134]

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([ 6.17614456, -2.97944079,  5.40996249, -2.97944079, 22.18114712,
        8.81447101,  5.40996249,  8.81447101, 11.03055797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005692824866060792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.75107307e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.75107307e-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([ 0.08372477, -0.05674038,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.79986626e-05, 1.40766094e-05,-4.90503554e+00,-7.18422776e-03,
 -1.23888396e-03, 1.46943687e-06]


--- 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,
  9.50914506e-02,-6.99521362e-02, 1.30435256e-01, 9.98137309e-01,
 -1.11410418e-04, 2.61852078e-07,-6.10073828e-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,-0.84903986,-2.61159905,
 -0.11990957,40.62820743,-3.57849753, 3.70316219]

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([ 6.18545292,  5.9749587 ,  1.59990511,  5.9749587 ,  7.69014967,
       -5.61939633,  1.59990511, -5.61939633, 27.1714856 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005703995168108988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86598863e-14, -9.73197725e-14,  1.00000000e+00, -4.73556906e-27,
        1.00000000e+00,  9.73197725e-14, -1.00000000e+00,  0.00000000e+00,
       -4.86598863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10129709, -0.0468949 ,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.24412185e-05,-1.45057489e-05,-4.90502362e+00,-7.18127095e-03,
 -1.24070893e-03,-6.20850271e-07]


--- 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,
  9.50952503e-02,-6.99642118e-02, 1.30435881e-01, 9.98129691e-01,
 -2.42754695e-05, 4.40825734e-05,-6.11319744e-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, -0.82756706, -2.57446039, -0.27570185, 39.77151196,
  -4.27500961,  3.19376619]

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([  6.17241704,  -3.53017245,  -5.06326126,  -3.53017245,
        32.97937969, -18.69016753,  -5.06326126, -18.69016753,
        19.20344808,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005688351075565506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87937106e-14, -2.92762264e-13,  1.00000000e+00,  1.42849572e-26,
        1.00000000e+00,  2.92762264e-13, -1.00000000e+00,  0.00000000e+00,
        4.87937106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10130266, -0.04689617,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.06760031e-06,-1.04097683e-05,-4.90500503e+00,-7.18128748e-03,
 -1.23903951e-03,-7.89564685e-08]


--- 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,
  9.50942804e-02,-6.99750224e-02, 1.30438651e-01, 9.98122074e-01,
  5.87263094e-05, 5.00039149e-05,-6.12561861e-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, -1.19243355,  0.3162413 ,  0.53613751, -0.90429619,
 -19.04058724,  0.18905366]

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([ 6.13226893, -0.4062128 , -6.1188    , -0.4062128 , 41.7828234 ,
       -2.36675682, -6.1188    , -2.36675682,  6.28939237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000564013878730186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84216051e-14,  1.20115528e-06,  1.00000000e+00, -1.18219631e-19,
        1.00000000e+00, -1.20115528e-06, -1.00000000e+00,  0.00000000e+00,
        9.84216051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034605 , -0.07065305,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.83054756e-05, 2.60757240e-06,-4.90502671e+00,-7.18619705e-03,
 -1.23750023e-03, 3.95627099e-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,
  9.50880031e-02,-6.99735761e-02, 1.30439468e-01, 9.98114284e-01,
  5.84214092e-05,-2.85133631e-07,-6.13830073e-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, -1.32681416,  3.06423146, -0.48821545,-39.85343036,
 -30.60401268, -1.30801446]

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([ 6.13939447,  0.2157531 , -6.13560226,  0.2157531 , 21.76567744,
        0.54948459, -6.13560226,  0.54948459,  6.15871662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005648699276391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.82724491e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.82724491e-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([ 0.10561336, -0.09449027,  0.06198255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.31158210e-05, 1.63258973e-05,-4.90502203e+00,-7.19026245e-03,
 -1.23832329e-03,-3.83057089e-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,
  9.50764641e-02,-6.99600768e-02, 1.30437741e-01, 9.98106246e-01,
 -2.41959448e-05,-1.04403464e-04,-6.15135035e-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, -1.31544582,  3.01323942, -0.63601986,-39.42650982,
 -29.39028827, -1.84008204]

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([ 6.12233662,  0.20441859,  6.11892301,  0.20441859, 40.55253385,
       -1.15023058,  6.11892301, -1.15023058,  6.16076308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005628203434004247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86303212e-14, -9.86303212e-14,  1.00000000e+00,  9.72794025e-27,
        1.00000000e+00,  9.86303212e-14, -1.00000000e+00,  0.00000000e+00,
        9.86303212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10560806, -0.09449279,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.61005116e-07, 3.20196174e-05,-4.90501266e+00,-7.18875933e-03,
 -1.23981981e-03, 5.35904641e-08]


--- 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,
  9.50712090e-02,-6.99529177e-02, 1.30437782e-01, 9.98098203e-01,
 -7.01820237e-05,-1.51621314e-04,-6.16437310e-02]

qacc:
[  5.63006755,  0.45425379, -2.40892184,  6.0323371 ,  2.28533859,
  -2.77252005, 15.23819169,-38.40144076,  2.44463443, -0.7161941 ,
   3.16704834, -5.07748652, -1.097677  ,  1.17373095, -2.32155491,
   3.90637344,  1.57096999, -1.58505129,  0.44213872, 16.53089236,
  29.52301849,  0.13273144]

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([ 6.11338399, -2.7610496 ,  5.45436237, -2.7610496 , 27.50271673,
       10.82748168,  5.45436237, 10.82748168, 11.59435719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005617442363507336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88192626e-14, -9.88192626e-14,  1.00000000e+00,  9.76524667e-27,
        1.00000000e+00,  9.88192626e-14, -1.00000000e+00,  0.00000000e+00,
        9.88192626e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08374384, -0.05671908,  0.06198264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.90153524e-05, 5.94290944e-05,-4.90506464e+00,-7.18237241e-03,
 -1.23787276e-03, 3.47958300e-06]


--- 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,
  9.50721524e-02,-6.99519523e-02, 1.30438874e-01, 9.98090121e-01,
 -7.92813085e-05,-1.44231762e-04,-6.17744627e-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,  1.54962543, -1.54840974,  0.26256884, 16.72517991,
  28.38870928, -0.25374646]

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([ 6.13229664,  2.60441515, -5.55176402,  2.60441515, 40.98010839,
       16.34762723, -5.55176402, 16.34762723, 13.80121191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005640172075082883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84210242e-14, -1.96842048e-13,  1.00000000e+00,  1.93733960e-26,
        1.00000000e+00,  1.96842048e-13, -1.00000000e+00,  0.00000000e+00,
        9.84210242e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0837485 , -0.05671606,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.77293755e-05, 3.26221181e-05,-4.90501771e+00,-7.18136915e-03,
 -1.23278026e-03, 2.58320074e-06]


--- 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,
  9.50792211e-02,-6.99570590e-02, 1.30440393e-01, 9.98081961e-01,
 -5.13324048e-05,-8.40869694e-05,-6.19062988e-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,  1.53133609, -1.51802281,  0.10693246, 16.85916949,
  27.47159657, -0.55408298]

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([ 6.12361631,  2.36365594, -5.64905366,  2.36365594, 52.52700601,
       19.41593306, -5.64905366, 19.41593306, 14.24755853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005629741385375503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86033770e-14, -9.86033770e-14,  1.00000000e+00,  9.72262596e-27,
        1.00000000e+00,  9.86033770e-14, -1.00000000e+00,  0.00000000e+00,
        9.86033770e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375165, -0.05671311,  0.0619826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.00094340e-06, 9.52389267e-06,-4.90499962e+00,-7.18237343e-03,
 -1.23116389e-03, 1.94666046e-06]


--- 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,
  9.50829855e-02,-6.99723604e-02, 1.30440542e-01, 9.98074172e-01,
  5.57297984e-05,-3.75534264e-05,-6.20317914e-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,
 -8.26083320e-01,-2.54869862e+00,-3.42757816e-01, 3.99023660e+01,
 -4.34391277e+00, 3.17345412e+00]

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([ 6.09922896,  5.77037665,  1.97568906,  5.77037665,  8.13185283,
       -5.93666563,  1.97568906, -5.93666563, 23.43839303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005600422030580393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95597929e-14, -9.91195859e-14,  1.00000000e+00,  4.91234615e-27,
        1.00000000e+00,  9.91195859e-14, -1.00000000e+00,  0.00000000e+00,
        4.95597929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10134486, -0.04690188,  0.06198269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.52009380e-05,-1.04161822e-05,-4.90500824e+00,-7.18543616e-03,
 -1.23288476e-03, 1.55558150e-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,
  9.50813559e-02,-6.99750960e-02, 1.30439535e-01, 9.98066240e-01,
  7.85946397e-05,-4.87926619e-05,-6.21592424e-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,
 -1.34850181e+00, 3.14145841e+00,-2.88728632e-01,-4.02257647e+01,
 -3.14422731e+01,-9.78561461e-01]

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([ 6.10483333, -0.05811757, -6.10455669, -0.05811757, 40.41255351,
       -0.32662182, -6.10455669, -0.32662182,  6.10794289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005607161755294132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.90004456e-14, -9.90004456e-14,  1.00000000e+00,  9.80108823e-27,
        1.00000000e+00,  9.90004456e-14, -1.00000000e+00,  0.00000000e+00,
        9.90004456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10557656, -0.09450676,  0.06198267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.71602763e-05, 5.13028911e-06,-4.90503954e+00,-7.19154686e-03,
 -1.23160981e-03, 2.05122911e-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,
  9.50743926e-02,-6.99655157e-02, 1.30436673e-01, 9.98058094e-01,
  1.83170871e-05,-1.15145010e-04,-6.22898737e-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  , -1.3334229 ,  3.07900063, -0.46379815,-39.77798285,
 -30.08743314, -1.58955269]

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([ 6.12009785, -0.38341234,  6.10807602, -0.38341234, 36.62414327,
        1.91478093,  6.10807602,  1.91478093,  6.24029128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005625512694551332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.8677497e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.8677497e-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([ 0.1055701 , -0.0945084 ,  0.06198262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.22562282e-06, 1.75338228e-05,-4.90500333e+00,-7.19127709e-03,
 -1.23567848e-03, 7.81042507e-07]


--- 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,
  9.50737028e-02,-6.99622545e-02, 1.30435515e-01, 9.98049923e-01,
 -4.70120574e-06,-1.25131956e-04,-6.24206405e-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, 1.56837729,-1.57981224,
  0.42571837,16.83794849,29.28840801,-0.07102042]

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([ 6.11550152, -2.77766269,  5.4482978 , -2.77766269, 26.33503157,
       10.30836352,  5.4482978 , 10.30836352, 11.37093319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005619987901389484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.87745031e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.87745031e-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([ 0.08376426, -0.05670122,  0.06198263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.27239088e-05, 4.15959592e-05,-4.90503101e+00,-7.18611110e-03,
 -1.23616115e-03, 2.62573081e-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,
  9.50792029e-02,-6.99651738e-02, 1.30435348e-01, 9.98041689e-01,
  9.67969987e-06,-8.09265714e-05,-6.25522280e-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,  1.54748524, -1.54509889,  0.24808252, 16.97172212,
  28.21056445, -0.41376394]

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([ 6.13200938,  2.32538508, -5.67398654,  2.32538508, 45.83752081,
       16.27261591, -5.67398654, 16.27261591, 12.80105907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005639826939139309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.84270472e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.84270472e-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([ 0.08376857, -0.05669859,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.97508573e-06, 1.66765882e-05,-4.90500270e+00,-7.18637554e-03,
 -1.23340534e-03, 1.85356621e-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,
  9.50799941e-02,-6.99667218e-02, 1.30437495e-01, 9.98033468e-01,
  2.03454445e-05,-7.26150626e-05,-6.26832565e-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, -1.17724034,  0.34280803,  0.57849722, -0.73129925,
 -18.02798473,  0.27971598]

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([ 6.11922409,  4.63669635, -3.99323808,  4.63669635, 15.89783865,
       11.35431083, -3.99323808, 11.35431083, 19.3031341 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005624462488693476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.73749597e-07,  5.58450520e-08,  1.00000000e+00,  3.20410761e-14,
        1.00000000e+00, -5.58450520e-08, -1.00000000e+00,  0.00000000e+00,
       -5.73749597e-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([ 0.10325879, -0.0707783 ,  0.06198262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.28237262e-06,-4.73639401e-06,-4.90500263e+00,-7.18869466e-03,
 -1.23409164e-03, 1.34748867e-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,
  9.50755619e-02,-6.99561170e-02, 1.30437209e-01, 9.98025065e-01,
 -5.04371186e-05,-1.19136067e-04,-6.28168217e-02]

qacc:
[ 3.84605486e+00,-2.16057903e+00, 8.16716968e+00,-1.42633319e+01,
  1.03198737e+00, 2.39004687e-02, 3.98680197e+00,-1.62541495e+01,
 -1.25030822e+00, 2.91165657e-01,-1.91103828e+00, 3.39076650e+00,
 -8.20352792e-01, 7.12744319e-01,-7.31725108e+00, 1.89757267e+01,
 -1.30584773e+00, 3.03821791e+00,-6.08423495e-01,-3.89256187e+01,
 -2.99150968e+01,-1.26804257e+00]

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([ 6.10896902,  0.07889543, -6.10845955,  0.07889543, 16.79112906,
        0.13796828, -6.10845955,  0.13796828,  6.11075099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005612134506665784
  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([ 0.10554593, -0.09451972,  0.06198266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.24442131e-06, 9.75312056e-06,-4.90499988e+00,-7.18829773e-03,
 -1.23475291e-03, 1.11601631e-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,
  9.50773232e-02,-6.99517503e-02, 1.30438124e-01, 9.98016633e-01,
 -8.42689202e-05,-1.10158128e-04,-6.29506210e-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,  1.5483797 , -1.55954888,  0.30032807, 16.69574492,
  28.85523709, -0.11852148]

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([ 6.12629197, -2.78661885,  5.45584171, -2.78661885, 26.1133522 ,
       10.20856574,  5.45584171, 10.20856574, 11.34040617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005632956863330096
  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([ 0.08377962, -0.05668955,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.79645075e-05, 3.50549237e-05,-4.90502637e+00,-7.18238892e-03,
 -1.23644650e-03, 2.44481406e-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,
  9.50756714e-02,-6.99577691e-02, 1.30438296e-01, 9.98008630e-01,
 -3.85570784e-05,-1.13796103e-04,-6.30774051e-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, -0.85327843, -2.59634201, -0.18574772, 40.09043396,
  -3.79205659,  3.50918445]

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([ 6.12886232,  5.92575111,  1.56474504,  5.92575111,  7.37862831,
       -4.73291304,  1.56474504, -4.73291304, 24.05259046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005636045544238633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9698617e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9698617e-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([ 0.10139413, -0.04691564,  0.06198258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.36491892e-05, 9.48119902e-06,-4.90500260e+00,-7.18193717e-03,
 -1.23478487e-03, 1.38755303e-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,
  9.50801475e-02,-6.99698890e-02, 1.30438873e-01, 9.98000536e-01,
  4.39143765e-05,-6.56979102e-05,-6.32054164e-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, 1.53197989,-1.52530025,
  0.10099028,16.71144249,26.97593965,-0.61631927]

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([  6.11366071,  -4.91224152,  -3.63960582,  -4.91224152,
        15.39764429, -12.53024968,  -3.63960582, -12.53024968,
        23.02527583,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00056177750249016
  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([ 0.08378577, -0.05668335,  0.06198264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.84125668e-05, 1.61006133e-05,-4.90500741e+00,-7.18458642e-03,
 -1.22992902e-03, 1.59697017e-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,
  9.50792893e-02,-6.99695020e-02, 1.30438041e-01, 9.97992296e-01,
  4.29417083e-05,-7.47189775e-05,-6.33353680e-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,
 -1.33357223e+00, 3.12672125e+00,-3.51796198e-01,-3.98335772e+01,
 -3.11396338e+01,-9.68819985e-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([ 6.10836164,  3.02387434, -5.30737844,  3.02387434, 22.35251559,
        9.25509287, -5.30737844,  9.25509287, 11.38144291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005611404226667088
  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([ 0.10551966, -0.09453057,  0.06198266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.76751463e-05, 5.22217924e-07,-4.90502490e+00,-7.19095674e-03,
 -1.23117088e-03, 2.11969514e-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,
  9.50731529e-02,-6.99568478e-02, 1.30435136e-01, 9.97983833e-01,
 -4.05594352e-05,-1.38296818e-04,-6.34684823e-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, -1.31954899,  3.06682546, -0.51854197,-39.45381822,
 -29.83718165, -1.58100797]

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([ 6.11307765, -0.5404008 ,  6.08914488, -0.5404008 , 37.52585903,
        2.78782858,  6.08914488,  2.78782858,  6.36049249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005617074092639646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88257415e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.88257415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10551353, -0.09453288,  0.06198264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.62836032e-08, 1.62515346e-05,-4.90500112e+00,-7.18919198e-03,
 -1.23535951e-03, 1.14829940e-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,
  9.50732879e-02,-6.99505442e-02, 1.30434078e-01, 9.97975352e-01,
 -8.65936038e-05,-1.45008976e-04,-6.36016371e-02]

qacc:
[-2.80887530e+00,-3.59639453e-01,-6.43504590e-01, 8.17767355e+00,
 -3.93147976e+00, 2.92695917e-01,-1.55546998e+00, 2.50966043e+00,
  5.31498393e+00,-1.48924558e+00, 8.12512018e+00,-2.04139970e+01,
 -1.55382271e+00, 2.06120062e+00,-1.64262513e+00, 1.66303484e+00,
  1.56781907e+00,-1.58765856e+00, 4.61896258e-01, 1.68911253e+01,
  2.95645012e+01,-2.21955207e-02]

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([ 6.14535303, -2.80067367,  5.47006315, -2.80067367, 26.70393014,
       10.5259965 ,  5.47006315, 10.5259965 , 11.53466581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005655856504391821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81480898e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.81480898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08379766, -0.05667476,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.21362541e-05, 4.33886800e-05,-4.90503996e+00,-7.18257059e-03,
 -1.23601034e-03, 3.22709680e-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,
  9.50796093e-02,-6.99504476e-02, 1.30434135e-01, 9.97966815e-01,
 -9.50618253e-05,-9.71368564e-05,-6.37355350e-02]

qacc:
[  4.37956689, -1.65639983,  4.28697247,  0.15060903, -2.40957123,
  -0.93172797,  6.25372486,-18.11581977, -2.78205926, -1.92642072,
   4.65601704, -0.92112539, -1.63053578,  2.37261658, -1.68201265,
   1.27945332,  1.5466282 , -1.5517566 ,  0.27859045, 17.00906369,
  28.43153841, -0.37296173]

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([ 6.16521101,  2.21203205, -5.75471468,  2.21203205, 44.64600116,
       14.79147893, -5.75471468, 14.79147893, 11.85084918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005679701240768747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95472082e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95472082e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08380227, -0.05667223,  0.06198245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.87242647e-05, 1.63966500e-05,-4.90500697e+00,-7.18146040e-03,
 -1.23331771e-03, 2.04297668e-06]


--- 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,
  9.50825136e-02,-6.99607181e-02, 1.30433487e-01, 9.97958696e-01,
 -2.33150438e-05,-6.25528059e-05,-6.38626351e-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,-0.85426356,-2.59178907,
 -0.17608799,40.4497668 ,-4.07455589, 3.40082536]

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([ 6.16734286,  5.90546968,  1.7780736 ,  5.90546968,  7.81473014,
       -5.4714246 ,  1.7780736 , -5.4714246 , 24.33944326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005682260379679255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76920231e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76920231e-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([ 0.10143032, -0.04692721,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.82010904e-06,-6.97316095e-06,-4.90500258e+00,-7.18240345e-03,
 -1.23410584e-03, 1.14389185e-06]


--- 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,
  9.50820786e-02,-6.99812201e-02, 1.30431543e-01, 9.97950926e-01,
  1.26939347e-04,-4.23491220e-05,-6.39838343e-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,-0.83485965,-2.55786494,
 -0.32418468,39.63304894,-4.66871238, 2.95296277]

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([  6.14738351,  -3.88698937,  -4.76252429,  -3.88698937,
        33.15146798, -22.03969637,  -4.76252429, -22.03969637,
        24.13533702,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005658295189919643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81057887e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.81057887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10143523, -0.04692819,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.16935859e-05, 4.19389816e-06,-4.90501738e+00,-7.18641688e-03,
 -1.23172470e-03, 1.58454235e-06]


--- 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,
  9.50761910e-02,-6.99889248e-02, 1.30429180e-01, 9.97942985e-01,
  1.90593977e-04,-8.08040638e-05,-6.41073755e-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, -1.36311413,  3.19933498, -0.10458422,-41.33459348,
 -32.0398598 , -1.16859332]

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([ 6.20741626e+00, -5.51964051e-03, -6.20741381e+00, -5.51964051e-03,
        4.45102658e+01, -3.40589441e-02, -6.20741381e+00, -3.40589441e-02,
        6.20744655e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005730342991018961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68723012e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.68723012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10547886, -0.09454179,  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:
[-1.42224802e-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,
 -5.93113555e-05, 2.39956769e-05,-4.90507178e+00,-7.19531001e-03,
 -1.22934942e-03, 1.92581058e-06]


--- 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,
  9.50649250e-02,-6.99841164e-02, 1.30425586e-01, 9.97934809e-01,
  1.69122706e-04,-1.75100771e-04,-6.42343978e-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, -1.34462005,  3.12827335, -0.30782331,-40.6855812 ,
 -30.59238944, -1.73570716]

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([ 6.24495205e+00,  3.48018950e-02,  6.24485508e+00,  3.48018950e-02,
        3.52672918e+01, -1.61738328e-01,  6.24485508e+00, -1.61738328e-01,
        6.24585340e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005775346916663121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.61174316e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.61174316e-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([ 0.10547197, -0.09454189,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.23355740e-05, 3.05846414e-05,-4.90502150e+00,-7.19768399e-03,
 -1.23180666e-03, 9.13677389e-07]


--- 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,
  9.50483450e-02,-6.99670352e-02, 1.30420053e-01, 9.97926319e-01,
  6.37936732e-05,-3.22966570e-04,-6.43657712e-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, -1.32850689,  3.06819655, -0.48482908,-40.12215571,
 -29.42290272, -2.1692296 ]

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([ 6.24734699,  0.34374629,  6.23788289,  0.34374629, 43.7912315 ,
       -2.06890244,  6.23788289, -2.06890244,  6.36135643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005778217424693421
  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([ 0.10546709, -0.09454336,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.33000251e-06, 4.97364205e-05,-4.90503801e+00,-7.19503637e-03,
 -1.23060436e-03, 3.15387863e-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,
  9.50381745e-02,-6.99565303e-02, 1.30417563e-01, 9.97917835e-01,
 -3.51928344e-06,-4.11693302e-04,-6.44967118e-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,  1.60240237, -1.64407719,  0.76095283, 17.06542574,
  30.73169728,  0.20807418]

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([ 6.28658091, -2.84328785,  5.60685417, -2.84328785, 29.266163  ,
       11.6531596 ,  5.60685417, 11.6531596 , 12.19600642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005825229345556848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52943617e-14, -1.90588723e-13,  1.00000000e+00,  1.81620307e-26,
        1.00000000e+00,  1.90588723e-13, -1.00000000e+00,  0.00000000e+00,
        9.52943617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382585, -0.05665517,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.43008568e-05, 8.13086670e-05,-4.90511676e+00,-7.18739052e-03,
 -1.22600805e-03, 8.39789197e-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,
  9.50342997e-02,-6.99524221e-02, 1.30417202e-01, 9.97909323e-01,
 -3.27563678e-05,-4.44027749e-04,-6.46280443e-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, 1.57389629,-1.59917977,
  0.53210225,17.17965692,29.3653136 ,-0.20414676]

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([ 6.33959551,  2.50340556, -5.82438253,  2.50340556, 36.6930324 ,
       13.04635508, -5.82438253, 13.04635508, 11.94711145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005888727141106359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.42668083e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.42668083e-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([ 0.0838318 , -0.05665286,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.47653605e-05, 5.15982191e-05,-4.90504685e+00,-7.18532169e-03,
 -1.21819399e-03, 7.33695261e-06]


--- 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,
  9.50366217e-02,-6.99545602e-02, 1.30418174e-01, 9.97900752e-01,
 -2.39288766e-05,-4.22202624e-04,-6.47604085e-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,  1.54921923, -1.56156899,  0.33321106, 17.24215384,
  28.25319398, -0.52428637]

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([ 6.35533806,  2.29684764, -5.92577529,  2.29684764, 46.86830885,
       15.70294466, -5.92577529, 15.70294466, 12.44184484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005907579632494359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.39659805e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.39659805e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08383591, -0.05665042,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16790806e-05, 2.61657426e-05,-4.90500881e+00,-7.18529469e-03,
 -1.21399705e-03, 6.59465941e-06]


--- 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,
  9.50450565e-02,-6.99628196e-02, 1.30419790e-01, 9.97892083e-01,
  2.29114230e-05,-3.48025703e-04,-6.48942987e-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,  1.52819439, -1.53032664,  0.16125038, 17.2710199 ,
  27.35180868, -0.77197659]

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([ 6.34092049,  2.01822013, -6.0111613 ,  2.01822013, 60.21131439,
       18.0867403 , -6.0111613 , 18.0867403 , 12.41346148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005890313895578758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88482829e-13,  1.88482829e-13,  1.00000000e+00, -3.55257767e-26,
        1.00000000e+00, -1.88482829e-13, -1.00000000e+00,  0.00000000e+00,
        1.88482829e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08383856, -0.05664786,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.94676538e-06, 4.31827098e-06,-4.90499969e+00,-7.18735773e-03,
 -1.21324895e-03, 6.14107301e-06]


--- 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,
  9.50595337e-02,-6.99770976e-02, 1.30421460e-01, 9.97883272e-01,
  1.07694353e-04,-2.22952682e-04,-6.50300946e-02]

qacc:
[ 6.41545342e-01,-4.99048096e-01, 1.30550025e+00,-7.41446330e-01,
 -7.59318611e+00,-2.61145763e-01, 2.41492097e+00,-7.76401074e+00,
 -4.44250701e+00, 1.07652390e+00,-5.16997272e+00, 1.14362603e+01,
 -2.20256575e+00, 3.71712171e+00, 4.23679507e+00,-1.93230419e+01,
  1.51058919e+00,-1.50463236e+00, 1.32119699e-02, 1.72795621e+01,
  2.66254913e+01,-9.62607363e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005844250059464651
  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([ 0.08384006, -0.05664521,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.51031318e-05,-1.44441231e-05,-4.90501730e+00,-7.19154286e-03,
 -1.21581582e-03, 5.95151727e-06]


--- 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,
  9.50690692e-02,-6.99792743e-02, 1.30422594e-01, 9.97874377e-01,
  1.13354147e-04,-1.52222578e-04,-6.51666433e-02]

qacc:
[ 4.04515325e-01,-2.85600995e-02, 3.70358716e+00,-1.55671687e+01,
 -1.60074888e+00,-1.48724327e+00, 5.75658658e+00,-9.28830152e+00,
  2.56512831e-01,-3.80104002e-01, 4.41803963e-01, 2.74127782e+00,
 -1.88903162e+00, 3.23013117e+00,-5.25877228e+00, 1.41237573e+01,
 -1.23540471e+00, 3.02528777e+00,-1.33777210e-01,-3.77109441e+01,
 -2.96866867e+01,-3.66587160e-01]

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([ 6.24745169,  2.99577469, -5.48233406,  2.99577469, 23.63672985,
        9.50222274, -5.48233406,  9.50222274, 11.43986027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005778342916538073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.28164410e-07, -3.28164428e-07,  1.00000000e+00,  1.07691886e-13,
        1.00000000e+00,  3.28164428e-07, -1.00000000e+00,  1.26217745e-29,
        3.28164410e-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([ 0.10454229, -0.09300507,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.87895315e-05,-3.04781571e-05,-4.90506000e+00,-7.19787098e-03,
 -1.22159180e-03, 6.00675488e-06]


--- 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,
  9.50733456e-02,-6.99690284e-02, 1.30421940e-01, 9.97865311e-01,
  3.69777544e-05,-1.36908003e-04,-6.53054438e-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, -1.3148008 ,  3.10568468, -0.44713971,-39.12544401,
 -30.32201987, -1.11968765]

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([ 6.25459205, -0.68955796,  6.21646455, -0.68955796, 38.9345391 ,
        3.6250054 ,  6.21646455,  3.6250054 ,  6.65669381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005786900549350493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.59255317e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.59255317e-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([ 0.10542155, -0.09456494,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.63833873e-06,-1.61449369e-05,-4.90500871e+00,-7.19617281e-03,
 -1.23075460e-03, 2.44464225e-06]


--- 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,
  9.50837398e-02,-6.99649822e-02, 1.30422484e-01, 9.97856204e-01,
 -2.10975797e-06,-6.60226658e-05,-6.54445690e-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,
  1.52947384e+00,-1.54994674e+00, 2.99535863e-01, 1.67900819e+01,
  2.89436421e+01,-1.66909499e-01]

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([ 6.23863152, -2.87618087,  5.53607323, -2.87618087, 24.76423126,
        9.62468763,  5.53607323,  9.62468763, 11.23898851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005767770811203248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12785014e-07,  9.12784918e-07,  1.00000000e+00, -8.33176393e-13,
        1.00000000e+00, -9.12784918e-07, -1.00000000e+00,  0.00000000e+00,
        9.12785014e-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([ 0.08390826, -0.05674065,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.33966048e-05, 9.68050886e-06,-4.90501664e+00,-7.18959973e-03,
 -1.23646441e-03, 1.78796651e-06]


--- 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,
  9.50892821e-02,-6.99595775e-02, 1.30425463e-01, 9.97847112e-01,
 -4.43370372e-05,-3.08608647e-05,-6.55830605e-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, -1.21299338,  0.33964029,  0.60871147, -0.39754127,
 -17.92621653,  0.31667416]

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([ 6.22842045,  4.65295792, -4.14043523,  4.65295792, 15.86850943,
       10.83338488, -4.14043523, 10.83338488, 18.40281305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005755529712225024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64483792e-14,  5.67892011e-07,  1.00000000e+00, -5.47722641e-20,
        1.00000000e+00, -5.67892011e-07, -1.00000000e+00,  0.00000000e+00,
        9.64483792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345613, -0.07071966,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.61828650e-05,-1.68367558e-05,-4.90501284e+00,-7.18867324e-03,
 -1.23848262e-03, 2.25632185e-07]


--- 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,
  9.50913620e-02,-6.99645191e-02, 1.30427598e-01, 9.97838477e-01,
 -7.36314172e-06,-8.05248471e-06,-6.57143415e-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,
 -8.65597225e-01,-2.58659113e+00,-2.11054275e-01, 3.99205409e+01,
 -3.56643783e+00, 3.61101407e+00]

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([ 6.22508749, -1.02039927,  6.14088753, -1.02039927, 19.8154119 ,
        2.25823338,  6.14088753,  2.25823338,  6.60032636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005751533697450351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82576945e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.82576945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10151593, -0.04695479,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.78672279e-05,-1.05421326e-06,-4.90500541e+00,-7.18484827e-03,
 -1.24052214e-03, 7.73466460e-09]


--- 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,
  9.50886867e-02,-6.99681631e-02, 1.30431630e-01, 9.97829843e-01,
  2.53315090e-05,-2.19568588e-05,-6.58452973e-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, -1.18879365,  0.32441706,  0.47442416, -0.92871903,
 -18.45730445,  0.16217955]

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([ 6.19395762, -0.41993056, -6.17970625, -0.41993056, 36.96021539,
       -2.0906644 , -6.17970625, -2.0906644 ,  6.33602487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005714199058939741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91630953e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91630953e-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([ 0.1034559 , -0.07072382,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.69539795e-05, 5.57858330e-06,-4.90500409e+00,-7.18681294e-03,
 -1.23706794e-03, 3.53233661e-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,
  9.50809019e-02,-6.99597163e-02, 1.30433042e-01, 9.97821016e-01,
 -2.39796771e-05,-9.05674795e-05,-6.59788754e-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, -1.27737739,  3.02269687, -0.65502582,-39.11288752,
 -29.99364755, -1.31314056]

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([ 6.17003207,  0.1728527 , -6.16761037,  0.1728527 , 17.7529755 ,
        0.32462217, -6.16761037,  0.32462217,  6.17912989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005685488416592166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76365567e-14, -9.76365567e-14,  1.00000000e+00,  9.53289721e-27,
        1.00000000e+00,  9.76365567e-14, -1.00000000e+00,  0.00000000e+00,
        9.76365567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10539075, -0.09458284,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.31919610e-05, 2.01311739e-05,-4.90500565e+00,-7.18784526e-03,
 -1.23648441e-03, 2.68933980e-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,
  9.50792374e-02,-6.99575336e-02, 1.30435395e-01, 9.97812171e-01,
 -3.70588489e-05,-1.04411938e-04,-6.61124763e-02]

qacc:
[ 2.42350423e+00, 1.46433426e-01,-1.30834935e+00, 3.53910470e+00,
  8.25946921e-01, 1.75782255e+00,-5.68614720e+00, 5.48277345e+00,
  2.56048287e+00, 1.36178177e-01, 7.73306549e-01,-4.37968591e+00,
 -1.42289990e+00, 1.97534353e+00,-5.99407366e+00, 1.70377016e+01,
  1.53009550e+00,-1.56603322e+00, 2.35205359e-01, 1.62698265e+01,
  2.85186870e+01,-1.28756631e-02]

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([ 6.14956172, -2.7053412 ,  5.52252101, -2.7053412 , 26.31863573,
        9.8803113 ,  5.52252101,  9.8803113 , 10.98967244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005660911154883319
  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([ 0.08386611, -0.05661842,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.93478678e-05, 4.29580518e-05,-4.90502869e+00,-7.18334796e-03,
 -1.23687928e-03, 2.03429421e-06]


--- 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,
  9.50836241e-02,-6.99614881e-02, 1.30438080e-01, 9.97803265e-01,
 -1.35722218e-05,-6.54269773e-05,-6.62468030e-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 ,  1.51277348, -1.53429319,  0.08283197, 16.49651875,
  27.56565724, -0.36506702]

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([ 6.13553553,  2.74133909, -5.48906697,  2.74133909, 45.4027663 ,
       19.6107636 , -5.48906697, 19.6107636 , 15.92950473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005644063423374118
  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([ 0.0838695 , -0.05661484,  0.06198256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.22402795e-06, 1.89078073e-05,-4.90500237e+00,-7.18423254e-03,
 -1.23394381e-03, 1.49071050e-06]


--- 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,
  9.50846255e-02,-6.99755787e-02, 1.30439215e-01, 9.97794764e-01,
  8.81820911e-05,-3.99491223e-05,-6.63746849e-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, -0.8463265 , -2.53403601, -0.38733318, 39.49549133,
  -4.1462558 ,  3.22611229]

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([ 6.10504544,  5.82552603,  1.82615068,  5.82552603,  7.75524748,
       -5.2642397 ,  1.82615068, -5.2642397 , 22.89827378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005607416811805044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.96987828e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.96987828e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10154734, -0.04695655,  0.06198267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.22677736e-05,-1.78996480e-06,-4.90500287e+00,-7.18711525e-03,
 -1.23436033e-03, 1.16879496e-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,
  9.50803821e-02,-6.99771619e-02, 1.30438917e-01, 9.97786112e-01,
  1.05857403e-04,-7.15542496e-05,-6.65045683e-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, -1.31117833,  3.1268694 , -0.35818523,-40.05239433,
 -31.26900045, -0.99939571]

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([ 6.12852455, -0.05655009, -6.12826364, -0.05655009, 39.21247746,
       -0.30529045, -6.12826364, -0.30529045,  6.13134169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000563563967546088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.85001782e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.85001782e-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([ 0.1053644 , -0.09459479,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.34308122e-05, 1.26707124e-05,-4.90503314e+00,-7.19301234e-03,
 -1.23175180e-03, 1.54619834e-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,
  9.50709456e-02,-6.99664728e-02, 1.30436523e-01, 9.97777228e-01,
  4.04906085e-05,-1.57637097e-04,-6.66376548e-02]

qacc:
[ -5.64502994,  0.10179654, -1.66840744,  6.18859713, -2.23919729,
   0.7786909 , -0.93527175, -4.28332838, -2.07420705,  0.60029644,
  -3.99827039,  9.73679201, -1.1401325 ,  1.32160905,  5.90299288,
 -25.5251777 , -1.29828838,  3.0680619 , -0.52404441,-39.61772459,
 -29.94007402, -1.59988685]

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([ 6.13178775, -0.169559  ,  6.12944294, -0.169559  , 37.18835129,
        0.85911881,  6.12944294,  0.85911881,  6.15555359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000563956065046986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.84316947e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.84316947e-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([ 0.10535816, -0.09459676,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.47029356e-06, 2.61255423e-05,-4.90500733e+00,-7.19248176e-03,
 -1.23462181e-03, 1.04994403e-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,
  9.50677245e-02,-6.99621755e-02, 1.30435868e-01, 9.97768330e-01,
  1.23684068e-05,-1.87288018e-04,-6.67706923e-02]

qacc:
[-3.30101321e-01,-4.68337280e-01, 3.79884660e+00,-1.24451110e+01,
 -1.37748302e+00,-2.99606689e-01, 1.41659641e+00,-4.15711962e+00,
  4.70229342e+00,-1.02751356e+00, 6.43902666e+00,-1.66105189e+01,
 -1.73261657e+00, 2.71354474e+00, 4.73257053e+00,-2.19285572e+01,
  1.55384352e+00,-1.59795507e+00, 4.34770154e-01, 1.67006622e+01,
  2.93941919e+01, 1.98998425e-02]

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([ 6.12054701, -2.72431988,  5.48080075, -2.72431988, 26.69190991,
       10.22532573,  5.48080075, 10.22532573, 11.20320909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005626052541992249
  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([ 0.08388293, -0.05660153,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.47519898e-05, 5.12592179e-05,-4.90504449e+00,-7.18706889e-03,
 -1.23392855e-03, 3.63464973e-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,
  9.50706353e-02,-6.99641268e-02, 1.30436237e-01, 9.97759376e-01,
  2.16779350e-05,-1.62741119e-04,-6.69044089e-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,  1.53298883, -1.56214385,  0.25584457, 16.86462115,
  28.28809589, -0.34446908]

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([ 6.13792762,  2.41848321, -5.64137346,  2.41848321, 43.64882104,
       16.08109557, -5.64137346, 16.08109557, 13.03196856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005646937172841676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91515573e-14,  9.83031146e-14,  1.00000000e+00,  4.83175117e-27,
        1.00000000e+00, -9.83031146e-14, -1.00000000e+00,  0.00000000e+00,
       -4.91515573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08388743, -0.05659875,  0.06198255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.14550674e-05, 2.54973953e-05,-4.90500788e+00,-7.18713516e-03,
 -1.22991609e-03, 2.91553614e-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,
  9.50796068e-02,-6.99722080e-02, 1.30437009e-01, 9.97750325e-01,
  6.85281893e-05,-8.57998854e-05,-6.70393691e-02]

qacc:
[  4.94132354, -1.02033982,  1.32160242,  6.01051135,  1.40355197,
  -0.89222167,  3.57606177, -7.44714229, -3.26184199,  2.13495609,
  -7.02817738,  8.48506475,  0.26626064, -1.73626836,-16.01860249,
  49.17678962,  1.51515344, -1.53246437,  0.10074404, 16.9754997 ,
  27.39426828, -0.62725261]

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([ 6.12792251,  2.1652914 , -5.73262135,  2.1652914 , 55.89400064,
       18.79734498, -5.73262135, 18.79734498, 13.22794308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005634916248227068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92564120e-14,  9.85128239e-14,  1.00000000e+00, -4.85238824e-27,
        1.00000000e+00, -9.85128239e-14, -1.00000000e+00,  0.00000000e+00,
        4.92564120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08389045, -0.05659598,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.29166621e-06, 3.39698026e-06,-4.90499983e+00,-7.18923399e-03,
 -1.22935805e-03, 2.45678275e-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,
  9.50833614e-02,-6.99677601e-02, 1.30436227e-01, 9.97741144e-01,
  3.28519420e-05,-6.54024351e-05,-6.71759191e-02]

qacc:
[-1.85232684e-02, 3.93356320e-01,-2.63949313e+00, 7.98585273e+00,
  8.12276911e-01,-4.69026836e-01, 4.17845773e+00,-1.31889878e+01,
  4.01154521e+00, 4.45632699e-01,-2.04814980e+00, 3.41381031e+00,
 -2.81645597e-01,-6.91782969e-01,-4.59448354e+00, 1.22383022e+01,
 -1.30419000e+00, 3.13225984e+00,-3.88352479e-01,-3.92751561e+01,
 -3.09746117e+01,-7.92026236e-01]

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([ 6.12987301,  2.93262962, -5.38284559,  2.93262962, 21.63014994,
        8.44471023, -5.38284559,  8.44471023, 10.73063797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005637259997343519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.84718662e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.84718662e-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([ 0.10533262, -0.09460812,  0.06198258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.55165883e-05,-1.55619104e-05,-4.90501827e+00,-7.19341099e-03,
 -1.23212062e-03, 2.24317881e-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,
  9.50819531e-02,-6.99510225e-02, 1.30433240e-01, 9.97731740e-01,
 -8.46458167e-05,-9.90166961e-05,-6.73153601e-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 , -1.29074613,  3.07243513, -0.55118405,-39.00429212,
 -29.6931258 , -1.44617292]

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([ 6.12613171, -0.98541879,  6.04635755, -0.98541879, 36.69092089,
        4.98136564,  6.04635755,  4.98136564,  6.93798104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005632764281332664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.85504602e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.85504602e-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([ 0.10532658, -0.09461134,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.47666008e-05, 4.99273535e-06,-4.90500286e+00,-7.18930587e-03,
 -1.23820562e-03, 8.16994631e-07]


--- 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,
  9.50768623e-02,-6.99450586e-02, 1.30430951e-01, 9.97722875e-01,
 -1.20551398e-04,-1.43938729e-04,-6.74464966e-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, -0.92063052, -2.69343552,  0.17448282, 41.08457998,
  -2.89518285,  4.1564596 ]

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([ 6.17038837, -0.49731287,  6.15031483, -0.49731287, 29.76000412,
        1.90745025,  6.15031483,  1.90745025,  6.32462431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005685916090507198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88146064e-14, -9.76292129e-14,  1.00000000e+00,  4.76573160e-27,
        1.00000000e+00,  9.76292129e-14, -1.00000000e+00,  0.00000000e+00,
        4.88146064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10159806, -0.04697261,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.96220100e-05, 3.64302934e-05,-4.90504910e+00,-7.18041799e-03,
 -1.24077815e-03, 2.37883132e-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,
  9.50708545e-02,-6.99500139e-02, 1.30428775e-01, 9.97714273e-01,
 -7.69655124e-05,-1.81050769e-04,-6.75736008e-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,
 -2.29243950e-01,-2.72979015e+00, 2.81051789e-02, 3.93921555e+01,
  6.57659077e+00, 2.01520554e+00]

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([  6.20170178,  -4.47674873,  -4.29183245,  -4.47674873,
        20.12978231, -14.52818056,  -4.29183245, -14.52818056,
        21.35583806,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005723488881945044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69883097e-14, -9.69883097e-14,  1.00000000e+00, -9.40673222e-27,
        1.00000000e+00,  9.69883097e-14, -1.00000000e+00,  0.00000000e+00,
       -9.69883097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09664041, -0.04652816,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.43108298e-05, 3.14838810e-05,-4.90501439e+00,-7.17836769e-03,
 -1.23241980e-03, 2.26176131e-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,
  9.50710270e-02,-6.99612584e-02, 1.30427770e-01, 9.97705593e-01,
  3.84836342e-06,-1.65470114e-04,-6.77017125e-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,  1.54508123, -1.57230069,  0.29263911, 16.79103687,
  27.54397303, -0.50659316]

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([  6.21462104,  -4.08957704,  -4.67940961,  -4.08957704,
        20.48764728, -12.47393265,  -4.67940961, -12.47393265,
        17.11623316,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005738983533139091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.67264515e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.67264515e-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([ 0.08391199, -0.05658244,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.56314505e-05, 2.92425732e-05,-4.90501421e+00,-7.18164111e-03,
 -1.22563135e-03, 2.12843920e-06]


--- 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,
  9.50772953e-02,-6.99786695e-02, 1.30427280e-01, 9.97696791e-01,
  1.22073327e-04,-9.86914089e-05,-6.78313304e-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 , 1.52394679,-1.54167313,
  0.12911182,16.92940364,26.80667545,-0.75869296]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724743323067966
  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([ 0.08391398, -0.05657937,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.39613894e-05, 1.31662462e-05,-4.90502058e+00,-7.18804582e-03,
 -1.22488652e-03, 2.85142561e-06]


--- 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,
  9.50782496e-02,-6.99832770e-02, 1.30426123e-01, 9.97687852e-01,
  1.55211221e-04,-9.00415158e-05,-6.79626203e-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, -1.3285189 ,  3.20093214, -0.16693607,-40.47414521,
 -31.88335828, -0.83096949]

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([ 6.2299255 ,  3.03565666, -5.44029047,  3.03565666, 24.06299835,
        9.95077131, -5.44029047,  9.95077131, 11.7824094 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005757334112571899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64181514e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.64181514e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10529152, -0.09461874,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.58046547e-05,-1.37741364e-08,-4.90505263e+00,-7.19653897e-03,
 -1.22736342e-03, 3.78405670e-06]


--- 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,
  9.50739590e-02,-6.99753636e-02, 1.30423516e-01, 9.97678699e-01,
  1.04415102e-04,-1.36708735e-04,-6.80968695e-02]

qacc:
[ 3.78095458e-01, 2.01163948e-02, 1.96795025e+00,-9.00754072e+00,
  7.64116373e-01, 8.48201317e-01,-4.01763118e+00, 8.78618932e+00,
  2.46982142e+00,-1.24835883e+00, 2.92872391e+00,-8.69087097e-01,
 -6.37425290e-01, 4.87537704e-02,-5.00527177e+00, 1.39748938e+01,
 -1.31119564e+00, 3.13021373e+00,-3.62636634e-01,-3.99903413e+01,
 -3.04470325e+01,-1.47546620e+00]

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([ 6.25464839, -0.64736794,  6.22105628, -0.64736794, 34.33571657,
        2.92213771,  6.22105628,  2.92213771,  6.55872831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005786968071233717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59244125e-14, -9.59244125e-14,  1.00000000e+00,  9.20149291e-27,
        1.00000000e+00,  9.59244125e-14, -1.00000000e+00,  0.00000000e+00,
        9.59244125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10528464, -0.09462023,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.45030151e-05, 1.10867637e-05,-4.90500317e+00,-7.19674342e-03,
 -1.23289454e-03, 1.64429988e-06]


--- 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,
  9.50644843e-02,-6.99551670e-02, 1.30418778e-01, 9.97669243e-01,
 -2.93106192e-05,-2.36426455e-04,-6.82350690e-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, -1.296036  ,  3.07078987, -0.53263183,-39.56251719,
 -29.2875278 , -1.9724111 ]

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([ 6.2466498 , -0.33634027,  6.23758839, -0.33634027, 43.13719934,
        1.98919462,  6.23758839,  1.98919462,  6.35391021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005777381803727527
  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([ 0.10527976, -0.09462281,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.05235611e-05, 3.38798828e-05,-4.90501906e+00,-7.19204450e-03,
 -1.23476431e-03, 2.68802684e-06]


--- 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,
  9.50613290e-02,-6.99415467e-02, 1.30416856e-01, 9.97659799e-01,
 -1.24835883e-04,-2.76880627e-04,-6.83727477e-02]

qacc:
[  1.98057372, -1.0966338 ,  3.54866358, -3.68734926,  5.37963423,
   1.06644054, -4.32697338,  7.47889557, -2.08899862, -0.20893774,
   2.79845634,-11.59315097, -0.61991404,  0.14562148, -3.1295781 ,
   7.10736852,  1.57984431, -1.64407418,  0.70393745, 17.03384686,
  30.86600862,  0.25659138]

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([ 6.29914196, -2.85332979,  5.61584353, -2.85332979, 28.35559485,
       11.20656831,  5.61584353, 11.20656831, 11.99303907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000584027637569845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.5048843e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.5048843e-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([ 0.08393312, -0.05656868,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.09103391e-05, 6.84618423e-05,-4.90509616e+00,-7.18243899e-03,
 -1.23324581e-03, 6.68582091e-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,
  9.50643908e-02,-6.99343277e-02, 1.30416864e-01, 9.97650329e-01,
 -1.82140671e-04,-2.60864247e-04,-6.85107339e-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,  1.5542846 , -1.60030654,  0.48278168, 17.1349485 ,
  29.47583562, -0.15610962]

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([ 6.34362128,  2.21605332, -5.94395816,  2.21605332, 37.1350469 ,
       11.47979833, -5.94395816, 11.47979833, 10.62357153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005893548259471859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.06422712e-14, -4.70948474e-14,  1.00000000e+00, -3.32688698e-27,
        1.00000000e+00,  4.70948474e-14, -1.00000000e+00,  0.00000000e+00,
       -7.06422712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08393921, -0.05656639,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.95405528e-05, 3.60134204e-05,-4.90503692e+00,-7.17857434e-03,
 -1.22814311e-03, 4.82264790e-06]


--- 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,
  9.50735815e-02,-6.99333632e-02, 1.30418036e-01, 9.97640790e-01,
 -2.01267113e-04,-1.90638876e-04,-6.86496690e-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,  1.53221772, -1.56362481,  0.29071892, 17.18724087,
  28.34869952, -0.47571016]

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([ 6.35243952,  2.01035304, -6.02594129,  2.01035304, 47.19463333,
       13.62562705, -6.02594129, 13.62562705, 10.89817262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005904108517420376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82063673e-13, -1.70413469e-13,  1.00000000e+00, -4.80674492e-26,
        1.00000000e+00,  1.70413469e-13, -1.00000000e+00,  0.00000000e+00,
       -2.82063673e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08394343, -0.05656395,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.47044546e-05, 7.86332091e-06,-4.90500888e+00,-7.17674421e-03,
 -1.22668593e-03, 3.30120584e-06]


--- 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,
  9.50818649e-02,-6.99430570e-02, 1.30418686e-01, 9.97631484e-01,
 -1.40167040e-04,-1.13635135e-04,-6.87850923e-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,
 -2.26816988e-01,-2.66459395e+00,-1.30561223e-01, 3.97863140e+01,
  6.13461961e+00, 1.75277163e+00]

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([ 6.34127824,  5.76765601,  2.63551777,  5.76765601, 10.01039117,
       -8.0296105 ,  2.63551777, -8.0296105 , 23.91354874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005890742324812376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42345602e-14, -4.71172801e-14,  1.00000000e+00, -4.44007617e-27,
        1.00000000e+00,  4.71172801e-14, -1.00000000e+00,  0.00000000e+00,
       -9.42345602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09669881, -0.04653745,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.39696955e-06,-1.66837693e-05,-4.90500920e+00,-7.17699530e-03,
 -1.22870161e-03, 2.08472703e-06]


--- 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,
  9.50866958e-02,-6.99629566e-02, 1.30418196e-01, 9.97622566e-01,
  3.28905739e-07,-5.15751598e-05,-6.89145324e-02]

qacc:
[ -7.84712294,  2.05272628, -7.04985136,  8.13837414, -1.18202014,
  -1.18818795,  9.66296829,-29.23125239,  6.67422754,  0.35923534,
  -0.80121038, -0.42811152, -2.06498456,  3.54172053, -3.74113087,
   9.16241729, -0.86313626, -2.55143497, -0.28475646, 40.11823242,
  -4.72395647,  2.99231052]

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([ 6.31231638,  2.17937594, -5.92415889,  2.17937594, 50.47153696,
       16.24526703, -5.92415889, 16.24526703, 12.28861526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005856056503287105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.89585436e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.89585436e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10166538, -0.04699733,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.23794464e-05,-1.38915948e-05,-4.90502324e+00,-7.18075782e-03,
 -1.22864086e-03, 2.63556760e-06]


--- 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,
  9.50867420e-02,-6.99814863e-02, 1.30420336e-01, 9.97613651e-01,
  1.36917313e-04,-2.89438466e-05,-6.90433528e-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 , -1.19616503,  0.34246762,  0.65734164, -0.59050408,
 -19.80210455,  0.30933294]

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([ 6.2662527 , -0.5815929 , -6.23920448, -0.5815929 , 44.15666939,
       -3.53198834, -6.23920448, -3.53198834,  6.59549008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005800873930675809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56944624e-14,  3.24775522e-08,  1.00000000e+00,  3.10792190e-21,
        1.00000000e+00, -3.24775522e-08, -1.00000000e+00,  3.76158192e-37,
       -9.56944624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345086, -0.07077204,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.49081047e-05, 6.91732982e-06,-4.90506948e+00,-7.18878194e-03,
 -1.22842505e-03, 3.22364162e-06]


--- 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,
  9.50815691e-02,-6.99873837e-02, 1.30421389e-01, 9.97604578e-01,
  1.88195950e-04,-6.39323437e-05,-6.91741742e-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 , -1.30478684,  3.15806812, -0.27154607,-40.56398189,
 -31.68633032, -0.99838213]

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([ 6.3078335 ,  0.03054496, -6.30775954,  0.03054496, 25.1254854 ,
        0.09112339, -6.30775954,  0.09112339,  6.30827476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005850687142085476
  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([ 0.10523018, -0.09463981,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.76195681e-05, 2.12404995e-05,-4.90505934e+00,-7.19597797e-03,
 -1.23054315e-03, 1.72049810e-06]


--- 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,
  9.50712350e-02,-6.99809055e-02, 1.30420628e-01, 9.97595272e-01,
  1.55439778e-04,-1.53783790e-04,-6.93081968e-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,
 -1.29028422e+00, 3.09390260e+00,-4.53806379e-01,-4.00192859e+01,
 -3.02725930e+01,-1.59700717e+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([ 6.31273206e+00,  2.21896811e-02,  6.31269306e+00,  2.21896811e-02,
        3.52998823e+01, -1.01892427e-01,  6.31269306e+00, -1.01892427e-01,
        6.31309022e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005856554374687045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47846595e-14, -9.47846595e-14,  1.00000000e+00,  8.98413168e-27,
        1.00000000e+00,  9.47846595e-14, -1.00000000e+00,  0.00000000e+00,
        9.47846595e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10522371, -0.09464146,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.91122623e-05, 3.03402597e-05,-4.90501599e+00,-7.19750105e-03,
 -1.23341042e-03, 7.97172710e-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,
  9.50557903e-02,-6.99622670e-02, 1.30417419e-01, 9.97585644e-01,
  3.97391225e-05,-2.96284624e-04,-6.94463414e-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 , -1.27767854,  3.04007658, -0.61177386,-39.54828778,
 -29.1361015 , -2.05673533]

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([ 6.28799602,  0.33350594,  6.27914546,  0.33350594, 43.80531132,
       -1.99266722,  6.27914546, -1.99266722,  6.39383309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000582692461119319
  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([ 0.10521917, -0.09464422,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.32868892e-05, 5.14732845e-05,-4.90503731e+00,-7.19409688e-03,
 -1.23264324e-03, 3.04263179e-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,
  9.50466207e-02,-6.99502224e-02, 1.30416875e-01, 9.97576041e-01,
 -3.83660048e-05,-3.79841116e-04,-6.95837412e-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,  1.56880891, -1.64846351,  0.66621263, 16.70575544,
  30.70646917,  0.36566658]

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([ 6.30787133, -2.80363047,  5.65056607, -2.80363047, 28.78625656,
       11.15305705,  5.65056607, 11.15305705, 11.84166213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005850732452448715
  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([ 0.08396599, -0.05654008,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.11799303e-05, 8.46095764e-05,-4.90511916e+00,-7.18577410e-03,
 -1.22850668e-03, 8.22577496e-06]


--- 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,
  9.50436246e-02,-6.99445956e-02, 1.30418131e-01, 9.97566424e-01,
 -7.87134492e-05,-4.07230460e-04,-6.97212810e-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,  1.54336115, -1.60446341,  0.45000728, 16.87889298,
  29.32916156, -0.07640046]

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([ 6.34586801,  2.52501026, -5.82188664,  2.52501026, 35.3685773 ,
       12.5874383 , -5.82188664, 12.5874383 , 11.80516546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005896238847664381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70733570e-14, -9.41467140e-14,  1.00000000e+00,  4.43180188e-27,
        1.00000000e+00,  9.41467140e-14, -1.00000000e+00,  0.00000000e+00,
        4.70733570e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08397196, -0.05653728,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.08186125e-05, 5.31337171e-05,-4.90504878e+00,-7.18314696e-03,
 -1.22086907e-03, 6.98510149e-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,
  9.50467139e-02,-6.99452397e-02, 1.30420438e-01, 9.97556754e-01,
 -8.12297513e-05,-3.80702473e-04,-6.98596482e-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,  1.5213502 , -1.56772377,  0.26254432, 16.98977548,
  28.21189942, -0.42016682]

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([ 6.34946206,  2.32128089, -5.90993431,  2.32128089, 45.08058219,
       15.21265792, -5.90993431, 15.21265792, 12.32463035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005900542894828747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70390202e-14, -4.70390202e-14,  1.00000000e+00, -2.21266942e-27,
        1.00000000e+00,  4.70390202e-14, -1.00000000e+00,  0.00000000e+00,
       -4.70390202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08397609, -0.05653444,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.70533020e-05, 2.60689241e-05,-4.90500984e+00,-7.18251226e-03,
 -1.21685062e-03, 6.04713977e-06]


--- 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,
  9.50558138e-02,-6.99520330e-02, 1.30423147e-01, 9.97546988e-01,
 -4.58966471e-05,-3.02072650e-04,-6.99993749e-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,  1.50263686, -1.53729926,  0.10079635, 17.05829492,
  27.30937886, -0.68652254]

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([ 6.32537426,  2.04944283, -5.98415772,  2.04944283, 57.81753201,
       17.63493516, -5.98415772, 17.63493516, 12.36495294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005871695704263852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45402385e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.45402385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08397876, -0.05653156,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.37397567e-07, 2.68911486e-06,-4.90499948e+00,-7.18392754e-03,
 -1.21628097e-03, 5.38639153e-06]


--- 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,
  9.50708617e-02,-6.99648758e-02, 1.30425704e-01, 9.97537081e-01,
  2.72734416e-05,-1.72797893e-04,-7.01408707e-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,  1.48702777, -1.51235565, -0.03818945, 17.09925779,
  26.58465277, -0.89185992]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005816592550692279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77179300e-14,  9.54358600e-14,  1.00000000e+00, -4.55400169e-27,
        1.00000000e+00, -9.54358600e-14, -1.00000000e+00,  0.00000000e+00,
        4.77179300e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08398028, -0.05652865,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.07695336e-05,-1.75285201e-05,-4.90501555e+00,-7.18743215e-03,
 -1.21902490e-03, 4.98140643e-06]


--- 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,
  9.50918069e-02,-6.99836872e-02, 1.30427632e-01, 9.97526981e-01,
  1.38255226e-04, 5.96192217e-06,-7.02844483e-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,  1.47430442, -1.49216526, -0.15719245, 17.12364478,
  26.0076188 , -1.04903861]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005741105674924862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83453488e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.83453488e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08398089, -0.05652571,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.48616329e-05,-3.49568998e-05,-4.90505648e+00,-7.19305273e-03,
 -1.22497577e-03, 4.81527553e-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,
  9.51075341e-02,-6.99895802e-02, 1.30428957e-01, 9.97516830e-01,
  1.65649021e-04, 1.25660695e-04,-7.04281907e-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, -1.30448883,  3.22960133, -0.15072727,-39.61509723,
 -32.39497156, -0.08013315]

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([ 6.25445334,  2.94723478, -5.51652007,  2.94723478, 24.71321565,
        9.86170732, -5.51652007,  9.86170732, 11.52313114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005786734313242559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91856575e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91856575e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10517009, -0.09466926,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.24403281e-05,-4.98561329e-05,-4.90512113e+00,-7.20080720e-03,
 -1.23405017e-03, 4.87561458e-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,
  9.51181133e-02,-6.99828572e-02, 1.30428884e-01, 9.97506541e-01,
  1.10269528e-04, 1.89405571e-04,-7.05737368e-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, -1.28701429,  3.15399759, -0.34955074,-39.31338371,
 -30.82240433, -0.90506562]

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([ 6.27818173, -1.4616301 ,  6.10566977, -1.4616301 , 29.09441492,
        5.46195495,  6.10566977,  5.46195495,  7.5857136 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005815166872982502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90918515e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90918515e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10516218, -0.09467201,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.00811131e-05,-3.66459835e-05,-4.90503487e+00,-7.19991692e-03,
 -1.24686045e-03,-9.03426122e-07]


--- 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,
  9.51236066e-02,-6.99637712e-02, 1.30426724e-01, 9.97496019e-01,
 -2.71458821e-05, 1.99703992e-04,-7.07223604e-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, -1.27146871,  3.09074132, -0.52181588,-39.02942002,
 -29.55153223, -1.54802074]

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([ 6.26909401, -1.19105394,  6.15491106, -1.19105394, 36.81683082,
        5.91137743,  6.15491106,  5.91137743,  7.41302108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005804278466499668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56383322e-14, -1.91276664e-13,  1.00000000e+00,  1.82933812e-26,
        1.00000000e+00,  1.91276664e-13, -1.00000000e+00,  0.00000000e+00,
        9.56383322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10515648, -0.09467561,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.52026514e-05,-1.32478305e-05,-4.90501490e+00,-7.19429912e-03,
 -1.25588371e-03,-3.48404196e-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,
  9.51241645e-02,-6.99433121e-02, 1.30427369e-01, 9.97485467e-01,
 -1.69187049e-04, 1.77154155e-04,-7.08708964e-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, -1.23385665,  0.34327515,  0.70132614, -1.14554285,
 -16.54657409,  0.04178854]

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([ 6.2304523 , -0.5045131 ,  6.20999214, -0.5045131 , 30.33544715,
        1.95834156,  6.20999214,  1.95834156,  6.38955218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005757965673804143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64075758e-14, -9.27163997e-07,  1.00000000e+00,  8.93856333e-20,
        1.00000000e+00,  9.27163997e-07, -1.00000000e+00, -1.20370622e-35,
        9.64075758e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345064, -0.07080278,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.52805476e-05, 2.08956418e-05,-4.90505696e+00,-7.18390596e-03,
 -1.26143637e-03,-3.09806800e-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,
  9.51209885e-02,-6.99335493e-02, 1.30428474e-01, 9.97475507e-01,
 -2.30707195e-04, 1.43912323e-04,-7.10108393e-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,
 -9.33469639e-01,-2.67404877e+00, 1.15172631e-01, 4.05374391e+01,
 -2.48003616e+00, 4.31298598e+00]

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([ 6.27570705, -0.81136685,  6.22303647, -0.81136685, 24.89151686,
        2.42715129,  6.22303647,  2.42715129,  6.59216191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005812201962291652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91015906e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91015906e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1017641 , -0.04702496,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.51535644e-05, 3.75502074e-05,-4.90506586e+00,-7.17421462e-03,
 -1.25958251e-03,-1.83773690e-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,
  9.51141872e-02,-6.99342766e-02, 1.30429272e-01, 9.97466065e-01,
 -2.13444604e-04, 9.81885117e-05,-7.11434794e-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, -0.90630691, -2.62255896, -0.07706611, 39.73463747,
  -3.42889914,  3.66474221]

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([  6.28784284,  -2.15130359,  -5.90837207,  -2.15130359,
        34.51746658, -10.27871812,  -5.90837207, -10.27871812,
        10.03043775,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005826741112185119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52696373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52696373e-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([ 0.10177115, -0.04702626,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.62552011e-05, 3.03440238e-05,-4.90501817e+00,-7.17054850e-03,
 -1.25142466e-03,-1.92719945e-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,
  9.51038495e-02,-6.99453205e-02, 1.30429097e-01, 9.97457064e-01,
 -1.18848812e-04, 3.85906535e-05,-7.12698378e-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 , -0.8841095 , -2.57913316, -0.24308907, 39.06188459,
  -4.16926132,  3.15092799]

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([  6.27055222,  -2.40547388,  -5.79081346,  -2.40547388,
        42.0095026 , -14.84577462,  -5.79081346, -14.84577462,
        12.43740999,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005806025687048327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78047758e-14,  9.56095516e-14,  1.00000000e+00, -4.57059318e-27,
        1.00000000e+00, -9.56095516e-14, -1.00000000e+00,  0.00000000e+00,
        4.78047758e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10177707, -0.04702616,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.77307167e-06, 3.28091652e-05,-4.90501217e+00,-7.17172708e-03,
 -1.24361605e-03,-1.96210685e-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,
  9.50900474e-02,-6.99665360e-02, 1.30427378e-01, 9.97448425e-01,
  5.18837144e-05,-3.59660205e-05,-7.13907229e-02]

qacc:
[ 6.85588047e+00, 9.51333360e-01,-3.29572525e+00, 3.26738047e+00,
 -4.33386569e+00,-5.59291731e-02, 3.80850919e-02,-9.31756510e-01,
  3.80425390e-01,-6.46611004e-01, 5.33671972e+00,-1.49762518e+01,
 -6.57983028e-01, 3.33068824e-01,-4.77672814e+00, 1.27619820e+01,
 -8.66116845e-01,-2.54290001e+00,-3.86039791e-01, 3.85045343e+01,
 -4.74759432e+00, 2.74318015e+00]

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([  6.22983275,  -2.71369942,  -5.60773141,  -2.71369942,
        50.45454797, -21.4012718 ,  -5.60773141, -21.4012718 ,
        16.58635924,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005757222911494525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82100069e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.82100069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1017821 , -0.04702494,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.18379883e-05, 4.41408469e-05,-4.90504571e+00,-7.17768776e-03,
 -1.23590410e-03,-2.01840998e-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,
  9.50710289e-02,-6.99750212e-02, 1.30424936e-01, 9.97439552e-01,
  1.34944343e-04,-1.68476045e-04,-7.15142934e-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, -1.30407289,  3.18256964, -0.18051087,-41.65547471,
 -32.03229337, -1.34460388]

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([ 6.21347997,  0.10753995, -6.21254927,  0.10753995, 43.49954406,
        0.64542609, -6.21254927,  0.64542609,  6.22465237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005737615144386088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.67495202e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.67495202e-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([ 0.10511918, -0.09468859,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.26047970e-05, 6.37872088e-05,-4.90511717e+00,-7.18837501e-03,
 -1.22809926e-03,-2.14690293e-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,
  9.50468512e-02,-6.99710370e-02, 1.30421003e-01, 9.97430368e-01,
  1.32008837e-04,-3.56161807e-04,-7.16415874e-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 , -1.28983487,  3.11737598, -0.37301675,-40.91533948,
 -30.59248505, -1.85709691]

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([ 6.24106538,  0.92464505,  6.17218994,  0.92464505, 34.46547898,
       -4.22825037,  6.17218994, -4.22825037,  6.87449223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005770688245978067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.61950271e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.61950271e-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([ 0.10511242, -0.09468817,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.16738784e-05, 6.89346263e-05,-4.90508968e+00,-7.19234829e-03,
 -1.22483999e-03,-2.37376498e-07]


--- 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,
  9.50289325e-02,-6.99736491e-02, 1.30419526e-01, 9.97421160e-01,
  1.66641815e-04,-4.87530380e-04,-7.17688270e-02]

qacc:
[-4.55234192e-01,-1.52418317e+00, 5.34365286e+00,-6.12792895e+00,
  1.29449309e-01,-3.13656437e+00, 1.36058234e+01,-2.56340775e+01,
  2.03060607e+00,-3.00699514e-01,-5.38728543e-01, 5.63106689e+00,
 -1.58334598e+00, 2.23367928e+00, 4.28858756e+00,-1.86749279e+01,
  1.56477393e+00,-1.64909756e+00, 6.14061261e-01, 1.67186590e+01,
  2.94319693e+01, 1.58713401e-02]

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([ 6.27021679, -2.63935313,  5.68765626, -2.63935313, 28.80087157,
       10.45533549,  5.68765626, 10.45533549, 11.12200834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005805623789684605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56161702e-14, -9.56161702e-14,  1.00000000e+00,  9.14245200e-27,
        1.00000000e+00,  9.56161702e-14, -1.00000000e+00,  0.00000000e+00,
        9.56161702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08402453, -0.05648723,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.34424289e-06, 8.72980288e-05,-4.90512830e+00,-7.19124258e-03,
 -1.21792724e-03, 4.92040424e-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,
  9.50171624e-02,-6.99826922e-02, 1.30419670e-01, 9.97411890e-01,
  2.39080070e-04,-5.64862616e-04,-7.18967722e-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,  1.53714367, -1.60774984,  0.40514342, 16.91466211,
  28.30503994, -0.36782515]

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([ 6.30159358,  3.10241403, -5.48498941,  3.10241403, 39.05855722,
       18.52795983, -5.48498941, 18.52795983, 16.78135901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005843213004255443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50010742e-14, -9.50010742e-14,  1.00000000e+00,  9.02520410e-27,
        1.00000000e+00,  9.50010742e-14, -1.00000000e+00,  0.00000000e+00,
        9.50010742e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08402897, -0.05648429,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.16499902e-06, 6.59857703e-05,-4.90507066e+00,-7.19550576e-03,
 -1.20803494e-03, 5.93253828e-06]


--- 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,
  9.50114456e-02,-6.99980293e-02, 1.30420710e-01, 9.97402518e-01,
  3.49467684e-04,-5.90017167e-04,-7.20260149e-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, 1.51332542,-1.5735027 ,
  0.22417039,17.04951334,27.3853559 ,-0.66770971]

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([ 6.30047433,  2.85449494, -5.61674599,  2.85449494, 50.81875916,
       22.62470459, -5.61674599, 22.62470459, 17.79860954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005841872343707311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50228762e-14, -9.50228762e-14,  1.00000000e+00,  9.02934700e-27,
        1.00000000e+00,  9.50228762e-14, -1.00000000e+00,  0.00000000e+00,
        9.50228762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0840319 , -0.05648134,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.31689176e-05, 4.86132081e-05,-4.90504326e+00,-7.20179774e-03,
 -1.20157321e-03, 7.15975739e-06]


--- 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,
  9.50067469e-02,-7.00069431e-02, 1.30424039e-01, 9.97393238e-01,
  4.12744036e-04,-6.17032861e-04,-7.21538460e-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,  0.25453737,  1.60581872,  0.57224779,-23.42702059,
  -2.62449898,  0.721505  ]

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([ 6.28126335,  2.25731451, -5.86163804,  2.25731451, 26.30061907,
        7.70944605, -5.86163804,  7.70944605,  9.25016801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005818858848878629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.06805541e-14,  6.14618845e-07,  1.00000000e+00, -3.11492236e-20,
        1.00000000e+00, -6.14618845e-07, -1.00000000e+00,  0.00000000e+00,
        5.06805541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09325742, -0.08086349,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.16789620e-05, 3.46089904e-05,-4.90504369e+00,-7.21017076e-03,
 -1.19840907e-03, 8.59872152e-06]


--- 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,
  9.50034251e-02,-7.00058639e-02, 1.30427554e-01, 9.97384166e-01,
  4.02436071e-04,-6.46511985e-04,-7.22789378e-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,  0.34421   ,  2.49826173,  0.0464158 ,-36.60657442,
  -3.88257003,  1.39681591]

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([ 6.26759067,  0.22100542, -6.26369295,  0.22100542, 51.75780088,
        1.60505682, -6.26369295,  1.60505682,  6.3242228 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005802477144288143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12599691e-06, -4.15744823e-14,  1.00000000e+00,  4.68127388e-20,
        1.00000000e+00,  4.15744823e-14, -1.00000000e+00, -6.01853108e-36,
        1.12599691e-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([ 0.09245948, -0.0888264 ,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.34671366e-05, 2.76607663e-05,-4.90501801e+00,-7.21402422e-03,
 -1.19986198e-03, 9.19807395e-06]


--- 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,
  9.50010413e-02,-6.99985272e-02, 1.30432299e-01, 9.97375145e-01,
  3.46240574e-04,-6.75578092e-04,-7.24033483e-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,
  2.34494779e-01, 1.56438354e+00, 3.07467717e-01,-2.28984655e+01,
 -1.45222979e+00, 3.56285145e-01]

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([ 6.23488411,  1.2656902 ,  6.10506415,  1.2656902 , 39.55926054,
       -6.90874585,  6.10506415, -6.90874585,  7.66719206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005763278629693819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10697159e-14,  7.75251214e-07,  1.00000000e+00,  1.63343228e-20,
        1.00000000e+00, -7.75251214e-07, -1.00000000e+00,  0.00000000e+00,
       -2.10697159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09325195, -0.0808648 ,  0.06198219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.33884659e-06, 2.31123194e-05,-4.90500570e+00,-7.21330147e-03,
 -1.20232242e-03, 1.00108875e-05]


--- 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,
  9.50057325e-02,-6.99917636e-02, 1.30437808e-01, 9.97366275e-01,
  2.86652428e-04,-6.50354857e-04,-7.25259106e-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,  1.76875681, -0.14327808,  0.19107079, -3.65663897,
  26.95097239,  0.9189563 ]

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([ 6.20550889, -3.56366755,  5.08021793, -3.56366755, 24.14606064,
       12.58492509,  5.08021793, 12.58492509, 15.03357292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000572805532322404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84554950e-14,  9.69109900e-14,  1.00000000e+00, -4.69586999e-27,
        1.00000000e+00, -9.69109900e-14, -1.00000000e+00,  0.00000000e+00,
        4.84554950e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820606 , -0.06776233,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.14259576e-05, 2.38807865e-05,-4.90501473e+00,-7.20988979e-03,
 -1.20293010e-03, 1.07032697e-05]


--- 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,
  9.50168897e-02,-6.99882869e-02, 1.30443560e-01, 9.97357398e-01,
  2.44592211e-04,-5.72218757e-04,-7.26486997e-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,  1.6165133 , -0.82173641,  0.06089589,  6.82203336,
  27.02233266, -0.12665374]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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  dim: 3
  dist: -0.0005668283448661068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.12419346e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.12419346e-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([ 0.08303417, -0.06222463,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.32185034e-05, 2.30390388e-06,-4.90501031e+00,-7.20755284e-03,
 -1.20458014e-03, 9.49964885e-06]


--- 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,
  9.50338387e-02,-6.99908002e-02, 1.30448640e-01, 9.97348386e-01,
  2.40817435e-04,-4.43027132e-04,-7.27732243e-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,  1.44794786, -1.49749406, -0.16818941, 17.23709541,
  26.85074666, -0.88758384]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005603171110623306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95354774e-14, -9.90709549e-14,  1.00000000e+00,  4.90752705e-27,
        1.00000000e+00,  9.90709549e-14, -1.00000000e+00,  0.00000000e+00,
        4.95354774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08404897, -0.05646518,  0.06198269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.58428064e-05,-1.90922957e-05,-4.90501722e+00,-7.20607754e-03,
 -1.20840860e-03, 7.78080389e-06]


--- 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,
  9.50461741e-02,-6.99816254e-02, 1.30451610e-01, 9.97339228e-01,
  1.60939245e-04,-3.63985915e-04,-7.28992809e-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, -1.15342708,  2.92201438, -0.52754878,-36.12632775,
 -27.77807711, -0.74636313]

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([ 6.03230537,  2.70591151, -5.39135892,  2.70591151, 22.6178226 ,
        8.32423562, -5.39135892,  8.32423562, 10.21022142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005519841326922997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.89000266e-07,  2.89000203e-07,  1.00000000e+00,  8.35211354e-14,
        1.00000000e+00, -2.89000203e-07, -1.00000000e+00,  0.00000000e+00,
       -2.89000266e-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([ 0.10419817, -0.09316636,  0.06198294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.28883435e-06,-3.89672357e-05,-4.90504047e+00,-7.20678022e-03,
 -1.21434305e-03, 6.44334280e-06]


--- 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,
  9.50643751e-02,-6.99785506e-02, 1.30454450e-01, 9.97329964e-01,
  1.19158423e-04,-2.32276541e-04,-7.30265302e-02]

qacc:
[-6.76638004e+00, 9.69292315e-01,-4.40734108e+00, 7.65536548e+00,
 -8.52879472e+00, 2.35192839e+00,-1.31738295e+01, 3.38359906e+01,
  9.58797104e-01, 2.78486106e+00,-1.05544430e+01, 1.66342409e+01,
 -1.42124315e+00, 1.99248233e+00,-5.60322645e+00, 1.45486897e+01,
  1.46643084e+00,-1.52498727e+00,-3.23853524e-02, 1.70780562e+01,
  2.76525295e+01,-6.09824918e-01]

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([ 6.0107896 , -2.72155851,  5.35935732, -2.72155851, 24.35871482,
        9.31733956,  5.35935732,  9.31733956, 10.74226824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005493891767761744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05207907e-14,  1.01041581e-13,  1.00000000e+00,  5.10470059e-27,
        1.00000000e+00, -1.01041581e-13, -1.00000000e+00,  0.00000000e+00,
       -5.05207907e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08405391, -0.05646028,  0.06198302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.35843745e-05,-1.77517497e-05,-4.90503151e+00,-7.20000544e-03,
 -1.22313054e-03, 3.93747138e-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,
  9.50779700e-02,-6.99637928e-02, 1.30455189e-01, 9.97320515e-01,
  7.58611866e-07,-1.50260750e-04,-7.31557750e-02]

qacc:
[ -4.25196601,  0.81261562, -2.11829438, -1.31785919, -2.17726212,
  -0.69181486,  0.89622395,  5.04530226,  0.73152878,  0.31401712,
  -1.88703556,  5.30330168, -0.38307474, -0.07568888,-17.01521725,
  54.17925181, -1.15154841,  2.92074387, -0.52542238,-36.39295259,
 -27.57819919, -0.98994951]

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([ 5.97659928,  2.69404746, -5.3349646 ,  2.69404746, 21.19193802,
        7.68343328, -5.3349646 ,  7.68343328,  9.85657515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005452607504830069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96390197e-07, -9.96390324e-07,  1.00000000e+00,  9.92793551e-13,
        1.00000000e+00,  9.96390324e-07, -1.00000000e+00,  2.01948392e-28,
        9.96390197e-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([ 0.10418799, -0.09317602,  0.06198315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.54477981e-05,-4.10374443e-05,-4.90504712e+00,-7.19843116e-03,
 -1.22903295e-03, 1.96782671e-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,
  9.50975070e-02,-6.99552276e-02, 1.30456315e-01, 9.97310976e-01,
 -7.95699674e-05,-1.42321251e-05,-7.32858211e-02]

qacc:
[ 3.55588992e+00, 8.51267768e-01,-2.39808204e+00, 2.36526524e-02,
  1.79285256e+00,-2.46493692e-01, 5.10945277e+00,-1.88102935e+01,
  3.50302501e+00, 5.16789518e-01,-2.01445841e+00, 3.99003471e+00,
 -1.17314820e+00, 1.57440157e+00,-3.55753417e+00, 9.31151799e+00,
  1.48554684e+00,-1.54814656e+00, 9.68693008e-02, 1.70088746e+01,
  2.83266120e+01,-4.05757792e-01]

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([ 5.9723172 , -2.69299978,  5.33069647, -2.69299978, 24.81737754,
        9.52028382,  5.33069647,  9.52028382, 10.781843  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005447432554744613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.09516645e-14,  1.01903329e-13,  1.00000000e+00, -5.19214424e-27,
        1.00000000e+00, -1.01903329e-13, -1.00000000e+00,  0.00000000e+00,
        5.09516645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08406107, -0.05645565,  0.06198317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.26990403e-05,-1.51636222e-05,-4.90505615e+00,-7.18925242e-03,
 -1.23801164e-03,-1.45573507e-07]


--- 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,
  9.51134030e-02,-6.99570263e-02, 1.30457017e-01, 9.97301926e-01,
 -7.88531505e-05, 1.07968161e-04,-7.34087884e-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, -0.91025828, -2.59098867, -0.10584052, 40.92051229,
  -3.92611629,  3.54665313]

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([ 5.98367769,  5.78822832,  1.51684265,  5.78822832,  7.6983219 ,
       -6.5430334 ,  1.51684265, -6.5430334 , 30.95170659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00054611596419675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.08235932e-14, -1.01647186e-13,  1.00000000e+00,  5.16607526e-27,
        1.00000000e+00,  1.01647186e-13, -1.00000000e+00,  0.00000000e+00,
        5.08235932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10187914, -0.04704734,  0.06198312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.54270370e-05,-4.18395985e-05,-4.90506447e+00,-7.18535874e-03,
 -1.24396635e-03,-2.78685163e-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,
  9.51257471e-02,-6.99690500e-02, 1.30456690e-01, 9.97293306e-01,
  1.03527183e-06, 2.15238975e-04,-7.35256126e-02]

qacc:
[ -6.54402938,  0.69820942, -2.24031943,  2.46890279,  1.82128505,
   2.60237838, -9.62536251, 14.75339367,  3.80225296, -0.23232502,
  -0.40930731,  4.70064003, -0.91651243,  0.95839638,-13.66561077,
  44.65095711, -0.88799096, -2.55621316, -0.25749543, 40.02666003,
  -4.53891505,  3.082745  ]

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([  5.98794723,  -3.97926208,  -4.47448157,  -3.97926208,
        29.58642726, -20.98668535,  -4.47448157, -20.98668535,
        24.65190191,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005466316795885301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07756441e-14, -2.03102576e-13,  1.00000000e+00,  1.03126641e-26,
        1.00000000e+00,  2.03102576e-13, -1.00000000e+00,  0.00000000e+00,
        5.07756441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10188395, -0.04704965,  0.06198311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.17376598e-06,-3.57692108e-05,-4.90503574e+00,-7.18445074e-03,
 -1.24646258e-03,-1.84276756e-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,
  9.51329958e-02,-6.99684186e-02, 1.30455153e-01, 9.97284484e-01,
 -4.24415811e-06, 2.66481285e-04,-7.36450041e-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, -1.27384036,  3.16372777, -0.30243246,-40.40862324,
 -31.06941516, -1.2967013 ]

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([ 5.99866731, -0.19521858, -5.99548991, -0.19521858, 41.4114809 ,
       -1.15307327, -5.99548991, -1.15307327,  6.03621242,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005479261283435205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01311378e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01311378e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10501813, -0.0947488 ,  0.06198307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.92259066e-05,-2.11211251e-05,-4.90504753e+00,-7.18848570e-03,
 -1.24904462e-03,-1.01018909e-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,
  9.51352080e-02,-6.99553724e-02, 1.30451726e-01, 9.97275384e-01,
 -9.35739080e-05, 2.64216399e-04,-7.37680860e-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, -1.25911418,  3.10373677, -0.47246705,-39.9402802 ,
 -29.77584624, -1.86178897]

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([ 6.01928412e+00,  3.27002773e-02,  6.01919529e+00,  3.27002773e-02,
        3.93820464e+01, -1.81248742e-01,  6.01919529e+00, -1.81248742e-01,
        6.02026878e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005504139466011304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00853461e-13, -1.00853461e-13,  1.00000000e+00,  1.01714205e-26,
        1.00000000e+00,  1.00853461e-13, -1.00000000e+00,  0.00000000e+00,
        1.00853461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10501201, -0.09474973,  0.06198299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.06816750e-07,-8.69918503e-06,-4.90500375e+00,-7.18635507e-03,
 -1.25659413e-03,-3.96702205e-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,
  9.51336756e-02,-6.99530077e-02, 1.30448729e-01, 9.97266825e-01,
 -1.02623609e-04, 2.48993987e-04,-7.38837405e-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,
 -9.36160081e-01,-2.67039062e+00, 1.07702404e-01, 4.05076286e+01,
 -3.50047750e+00, 3.73354659e+00]

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([ 6.05081829, -0.32276976,  6.04220338, -0.32276976, 30.34705247,
        1.29788574,  6.04220338,  1.29788574,  6.12015033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005542151664203188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00808662e-14, -1.00161732e-13,  1.00000000e+00,  5.01618633e-27,
        1.00000000e+00,  1.00161732e-13, -1.00000000e+00,  0.00000000e+00,
        5.00808662e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10189998, -0.04705585,  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:
[-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,
  3.45860352e-05, 1.55486505e-05,-4.90502448e+00,-7.17930039e-03,
 -1.26065997e-03,-3.84345771e-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,
  9.51284979e-02,-6.99611289e-02, 1.30445424e-01, 9.97258736e-01,
 -3.30161839e-05, 2.19462690e-04,-7.39929981e-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, -0.91131403, -2.6214734 , -0.07733189, 39.74889586,
  -4.22953331,  3.21616528]

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([  6.07795749,  -2.41120691,  -5.57921576,  -2.41120691,
        40.77666338, -14.99597128,  -5.57921576, -14.99597128,
        12.55886648,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005574830200608255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.95746045e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.95746045e-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([ 0.1019054 , -0.04705754,  0.06198277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.34135298e-06, 1.53543780e-05,-4.90500222e+00,-7.17869487e-03,
 -1.25502114e-03,-3.73663630e-06]


--- 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,
  9.51185108e-02,-6.99679062e-02, 1.30444717e-01, 9.97250627e-01,
  3.05785028e-05, 1.53044576e-04,-7.41023823e-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, -1.20236995,  0.33597046,  0.64978127, -1.63343121,
 -18.61529653, -0.06519427]

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([ 6.07747276, -0.35750732, -6.06694846, -0.35750732, 44.53268429,
       -2.26605183, -6.06694846, -2.26605183,  6.21100449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005574246802107058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.01526921e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.01526921e-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([ 0.1034493 , -0.0708531 ,  0.06198278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.16306698e-05, 2.41378665e-05,-4.90502089e+00,-7.18296833e-03,
 -1.24950385e-03,-3.65727968e-06]


--- 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,
  9.51034884e-02,-6.99623053e-02, 1.30442139e-01, 9.97242202e-01,
  8.92934691e-06, 3.28960836e-05,-7.42158290e-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, -1.25879727,  3.09456944, -0.46810303,-40.51364766,
 -29.94975061, -2.04304829]

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([ 6.09769399,  0.3005848 , -6.09028085,  0.3005848 , 20.59602704,
        0.71556282, -6.09028085,  0.71556282,  6.13301047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005598575897183267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.91522706e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.91522706e-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([ 0.10498917, -0.09475081,  0.0619827 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.73554832e-05, 3.58457815e-05,-4.90503244e+00,-7.18632356e-03,
 -1.24589691e-03,-3.21874197e-06]


--- 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,
  9.50834761e-02,-6.99445242e-02, 1.30437087e-01, 9.97233381e-01,
 -9.67140359e-05,-1.38944548e-04,-7.43340832e-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, -1.24750472,  3.04502941, -0.61828422,-39.96302601,
 -28.89165724, -2.41298927]

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([ 6.08686307,  1.27744654,  5.9513051 ,  1.27744654, 45.85129819,
       -8.53542869,  5.9513051 , -8.53542869,  7.91899127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005585546744785175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93835586e-14, -9.93835586e-14,  1.00000000e+00,  9.87709172e-27,
        1.00000000e+00,  9.93835586e-14, -1.00000000e+00,  0.00000000e+00,
        9.93835586e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498489, -0.09475215,  0.06198274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.76408181e-06, 5.25860487e-05,-4.90505673e+00,-7.18402991e-03,
 -1.24253432e-03,-8.02984408e-08]


--- 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,
  9.50697443e-02,-6.99334059e-02, 1.30434879e-01, 9.97224544e-01,
 -1.63992022e-04,-2.53058228e-04,-7.44521130e-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,  1.57015297, -1.66570404,  0.71113468, 16.9841023 ,
  30.209538  ,  0.11147394]

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([ 6.14095067, -2.60572831,  5.56070634, -2.60572831, 31.78521098,
       12.01681423,  5.56070634, 12.01681423, 11.77198944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005650568638078807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96479876e-13, -9.82399379e-14,  1.00000000e+00,  1.93021708e-26,
        1.00000000e+00,  9.82399379e-14, -1.00000000e+00,  0.00000000e+00,
        1.96479876e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08409946, -0.05642737,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.89932604e-05, 8.19763656e-05,-4.90514192e+00,-7.17673106e-03,
 -1.23589072e-03, 5.98475538e-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,
  9.50621837e-02,-6.99287758e-02, 1.30434647e-01, 9.97215662e-01,
 -1.92832769e-04,-3.11967795e-04,-7.45706946e-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,  1.54278169, -1.62203664,  0.49374229, 17.11017442,
  28.95635527, -0.27717181]

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([ 6.19655686,  2.50846572, -5.66612007,  2.50846572, 39.83181876,
       14.89077191, -5.66612007, 14.89077191, 12.78889703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005717317250166914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91279015e-13, -1.51707820e-13,  1.00000000e+00, -4.41893045e-26,
        1.00000000e+00,  1.51707820e-13, -1.00000000e+00,  0.00000000e+00,
       -2.91279015e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08410496, -0.05642524,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.15962323e-05, 5.51856111e-05,-4.90506452e+00,-7.17462585e-03,
 -1.22670458e-03, 5.14472808e-06]


--- 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,
  9.50606992e-02,-6.99304874e-02, 1.30435632e-01, 9.97206701e-01,
 -1.83236272e-04,-3.17728721e-04,-7.46904306e-02]

qacc:
[-3.87636029, 0.33321028,-4.19337439,13.74386018, 0.25068828, 0.99378034,
 -4.4683235 , 9.05694237, 4.55788513, 0.89999954,-2.6535239 , 3.89780443,
 -1.05771029, 1.27269288,-7.11415779,21.7095955 , 1.51903126,-1.58542559,
  0.30449683,17.18325756,27.93357293,-0.57940893]

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([ 6.21645275,  2.28656679, -5.7806485 ,  2.28656679, 51.03140698,
       17.72679758, -5.7806485 , 17.72679758, 13.22838343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005741180077104557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41723611e-14, -4.83447222e-14,  1.00000000e+00,  1.16860608e-27,
        1.00000000e+00,  4.83447222e-14, -1.00000000e+00,  0.00000000e+00,
        2.41723611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08410876, -0.05642298,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.07273403e-05, 3.24685759e-05,-4.90501845e+00,-7.17456810e-03,
 -1.22107783e-03, 4.60687985e-06]


--- 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,
  9.50652097e-02,-6.99384190e-02, 1.30437180e-01, 9.97197625e-01,
 -1.35243896e-04,-2.72009112e-04,-7.48117870e-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,
  1.49874112e+00,-1.55499440e+00, 1.40621415e-01, 1.72214942e+01,
  2.71024006e+01,-8.13639721e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005730259414187255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45310571e-13, -9.68737141e-14,  1.00000000e+00,  1.40767747e-26,
        1.00000000e+00,  9.68737141e-14, -1.00000000e+00,  0.00000000e+00,
        1.45310571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08411123, -0.0564206 ,  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:
[ 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,
 -3.61630290e-06, 1.32024641e-05,-4.90500099e+00,-7.17660381e-03,
 -1.21885512e-03, 4.34677729e-06]


--- 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,
  9.50756469e-02,-6.99524704e-02, 1.30438726e-01, 9.97188394e-01,
 -4.89163493e-05,-1.76155212e-04,-7.49351224e-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,
  1.48169699e+00,-1.52995847e+00,-6.62414839e-04, 1.72382732e+01,
  2.64309721e+01,-9.94292728e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005691523451627906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19449311e-13, -4.87665137e-14,  1.00000000e+00, -1.07017778e-26,
        1.00000000e+00,  4.87665137e-14, -1.00000000e+00,  0.00000000e+00,
       -2.19449311e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08411262, -0.05641812,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.14338321e-05,-3.06312955e-06,-4.90501009e+00,-7.18076373e-03,
 -1.21991262e-03, 4.34374653e-06]


--- 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,
  9.50919548e-02,-6.99725603e-02, 1.30439783e-01, 9.97178962e-01,
  7.56821009e-05,-3.12449972e-05,-7.50607100e-02]

qacc:
[-6.63864454e+00,-5.54112566e-01, 3.38404210e+00,-8.45636001e+00,
 -1.67750784e+00,-1.65586434e+00, 5.64157792e+00,-8.11121446e+00,
 -6.67498612e-01, 4.22110224e-01,-7.96218014e-01,-2.91007606e+00,
  1.65434052e-02,-1.21153890e+00,-4.37273045e+00, 1.00808411e+01,
  1.46766067e+00,-1.50962565e+00,-1.22015219e-01, 1.72434271e+01,
  2.58931487e+01,-1.13267702e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563093015282512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92912802e-14, -9.85825605e-14,  1.00000000e+00,  4.85926061e-27,
        1.00000000e+00,  9.85825605e-14, -1.00000000e+00,  0.00000000e+00,
        4.92912802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08411318, -0.05641556,  0.0619826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.27285533e-05,-1.66496984e-05,-4.90504423e+00,-7.18706808e-03,
 -1.22415224e-03, 4.58138819e-06]


--- 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,
  9.51031480e-02,-6.99797340e-02, 1.30440153e-01, 9.97169407e-01,
  1.15809435e-04, 5.61510746e-05,-7.51874739e-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, -1.27867474,  3.2290407 , -0.1719026 ,-39.95789797,
 -31.8462244 , -0.58759799]

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([ 6.12075827,  2.82772934, -5.42840939,  2.82772934, 26.38780454,
       10.55736908, -5.42840939, 10.55736908, 11.62022969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000562630645533399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86635756e-14, -9.86635756e-14,  1.00000000e+00,  9.73450115e-27,
        1.00000000e+00,  9.86635756e-14, -1.00000000e+00,  0.00000000e+00,
        9.86635756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494016, -0.094769  ,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.75134280e-05,-2.77803270e-05,-4.90510226e+00,-7.19552998e-03,
 -1.23149683e-03, 5.04760754e-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,
  9.51092935e-02,-6.99742803e-02, 1.30439067e-01, 9.97159647e-01,
  7.24024379e-05, 8.88665639e-05,-7.53168312e-02]

qacc:
[  3.60178618,  0.9671078 , -3.86815949,  7.92124778, -0.53641465,
   1.28642826, -4.83080558,  6.58912543,  1.44238775, -0.67992497,
   2.46729129, -4.49372865, -1.44385323,  2.0619001 , -7.28739553,
  21.69188285, -1.26193048,  3.15685444, -0.36397221,-39.59320764,
 -30.40341423, -1.29995104]

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([ 6.1509902 , -1.08115831,  6.05522726, -1.08115831, 33.11147937,
        4.81378415,  6.05522726,  4.81378415,  7.01048936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005662626638247709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.80307458e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.80307458e-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([ 0.10493297, -0.09477083,  0.0619825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.18601425e-05,-1.98805132e-05,-4.90502117e+00,-7.19584895e-03,
 -1.24173271e-03, 1.68733618e-07]


--- 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,
  9.51104506e-02,-6.99564416e-02, 1.30435857e-01, 9.97149592e-01,
 -5.37051924e-05, 6.91901557e-05,-7.54498796e-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, -1.24709362,  3.09626685, -0.53083691,-39.25969693,
 -29.23603843, -1.85318   ]

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([ 6.14894266, -0.78021472,  6.09924264, -0.78021472, 41.81601324,
        4.56252934,  6.09924264,  4.56252934,  6.73258111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005660167693282425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.80733332e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.80733332e-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([ 0.10492781, -0.09477361,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.74370816e-05,-8.87283632e-07,-4.90500573e+00,-7.19134743e-03,
 -1.24829206e-03,-1.54005500e-06]


--- 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,
  9.51077469e-02,-6.99493567e-02, 1.30433459e-01, 9.97140149e-01,
 -9.82849529e-05, 3.77187923e-05,-7.55745412e-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, -0.96521661, -2.68846063,  0.20296582, 41.09243164,
  -2.80527988,  4.20710189]

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([ 6.15060917, -0.38096532,  6.13879944, -0.38096532, 30.55829211,
        1.51470673,  6.13879944,  1.51470673,  6.24460975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000566216905823716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90193340e-14,  9.80386680e-14,  1.00000000e+00, -4.80579021e-27,
        1.00000000e+00, -9.80386680e-14, -1.00000000e+00,  0.00000000e+00,
        4.90193340e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10197818, -0.04708051,  0.0619825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.20671793e-05, 2.95084676e-05,-4.90505189e+00,-7.18200032e-03,
 -1.25145988e-03,-3.00904515e-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,
  9.51012940e-02,-6.99528143e-02, 1.30431069e-01, 9.97131239e-01,
 -6.32099030e-05,-7.20439319e-06,-7.56920606e-02]

qacc:
[-1.87633089e+00,-2.10350353e-01, 2.91988915e+00,-1.14115750e+01,
 -6.74729682e+00, 1.35143927e+00,-7.99069007e+00, 2.15908021e+01,
 -5.04762118e+00, 5.62146071e-01,-1.70160730e+00, 2.38951119e+00,
 -8.68672421e-02,-7.89092638e-01, 2.60797954e+00,-1.23710511e+01,
 -9.37275128e-01,-2.63562970e+00, 1.88144079e-03, 4.02217040e+01,
 -3.69709903e+00, 3.58179309e+00]

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([  6.18534123,  -2.42620503,  -5.68963754,  -2.42620503,
        34.17845768, -11.93697127,  -5.68963754, -11.93697127,
        11.27556702,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000570386115649732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94644118e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94644118e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198459, -0.04708294,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.71639512e-05, 2.42537991e-05,-4.90501187e+00,-7.17936350e-03,
 -1.24406369e-03,-3.54852744e-07]


--- 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,
  9.50911840e-02,-6.99666351e-02, 1.30427988e-01, 9.97122778e-01,
  4.99547125e-05,-6.68633417e-05,-7.58034230e-02]

qacc:
[  1.918426  , -1.89552589,  9.38419817,-21.38491079,  2.01101556,
  -1.11519685,  2.62688815,  0.20413127, -0.04640001,  1.4225153 ,
  -4.58812676,  5.81117112, -1.12287803,  1.30190422,  0.61305787,
  -5.42247498, -0.91428531, -2.59078808, -0.17271598, 39.49049938,
  -4.3915578 ,  3.08591386]

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([  6.18763284,  -2.68375147,  -5.57532763,  -2.68375147,
        41.2343644 , -16.87016866,  -5.57532763, -16.87016866,
        14.30829283,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005706610804752377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.72751658e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.72751658e-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([ 0.10198999, -0.0470838 ,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.08003332e-05, 2.85953128e-05,-4.90501441e+00,-7.18164349e-03,
 -1.23696422e-03,-3.80991363e-07]


--- 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,
  9.50759458e-02,-6.99677189e-02, 1.30424034e-01, 9.97114007e-01,
  7.57713661e-05,-1.82100025e-04,-7.59184905e-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, -1.28205745,  3.18424002, -0.21826633,-41.44194624,
 -31.01965311, -1.85461631]

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([ 6.20165432, -0.04849066, -6.20146474, -0.04849066, 44.52642018,
       -0.29967004, -6.20146474, -0.29967004,  6.2039975 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005723431945760388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69892745e-14, -9.69892745e-14,  1.00000000e+00,  9.40691938e-27,
        1.00000000e+00,  9.69892745e-14, -1.00000000e+00,  0.00000000e+00,
        9.69892745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490553, -0.09477761,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.27298184e-05, 4.17579833e-05,-4.90505720e+00,-7.18876717e-03,
 -1.22991905e-03,-4.48681410e-07]


--- 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,
  9.50559957e-02,-6.99568860e-02, 1.30419037e-01, 9.97104877e-01,
  1.93080687e-05,-3.46903808e-04,-7.60377798e-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, -1.17796546,  2.97916815, -0.26088489,-39.1400872 ,
 -27.83550221, -2.10908687]

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([ 6.22239045,  0.07262392,  6.22196663,  0.07262392, 40.7948992 ,
       -0.40353655,  6.22196663, -0.40353655,  6.2271006 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005748299941787391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17152837e-07, -1.17152807e-07,  1.00000000e+00,  1.37247837e-14,
        1.00000000e+00,  1.17152807e-07, -1.00000000e+00,  0.00000000e+00,
        1.17152837e-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([ 0.10405542, -0.09321541,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.03185571e-06, 5.24286885e-05,-4.90505383e+00,-7.18932595e-03,
 -1.22715951e-03, 1.79476590e-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,
  9.50422976e-02,-6.99527356e-02, 1.30416883e-01, 9.97095726e-01,
  1.56090570e-06,-4.54620767e-04,-7.61571222e-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,  1.56300146, -1.67061258,  0.710893  , 17.13163672,
  29.93271553, -0.03452504]

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([ 6.30841959, -2.64658971,  5.72640556, -2.64658971, 30.9000185 ,
       11.36557164,  5.72640556, 11.36557164, 11.56127928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005851389140789504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89736659e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89736659e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08415126, -0.05639235,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.71934682e-05, 7.44040512e-05,-4.90510939e+00,-7.18510435e-03,
 -1.22101296e-03, 6.91004624e-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,
  9.50347376e-02,-6.99550939e-02, 1.30416680e-01, 9.97086518e-01,
  2.25568705e-05,-5.07691562e-04,-7.62772449e-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,  1.53451469, -1.62717022,  0.48789212, 17.23427894,
  28.71899813, -0.40008418]

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([ 6.35178076,  2.59474943, -5.7976197 ,  2.59474943, 41.25141392,
       15.61947973, -5.7976197 , 15.61947973, 13.34234556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005903319625662345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4033789e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4033789e-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([ 0.0841562 , -0.0563901 ,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.39868908e-06, 5.10267447e-05,-4.90504681e+00,-7.18601256e-03,
 -1.21241714e-03, 6.85788111e-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,
  9.50332173e-02,-6.99638158e-02, 1.30417655e-01, 9.97077215e-01,
  8.22651572e-05,-5.08104919e-04,-7.63987125e-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,  1.50993473, -1.59091288,  0.29442637, 17.29114473,
  27.72840569, -0.68447892]

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([ 6.35959873,  2.34978455, -5.90956924,  2.34978455, 53.18373   ,
       18.61838248, -5.90956924, 18.61838248, 13.76270812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005912681911900419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69424468e-14, -9.38848936e-14,  1.00000000e+00,  4.40718663e-27,
        1.00000000e+00,  9.38848936e-14, -1.00000000e+00,  0.00000000e+00,
        4.69424468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08415953, -0.05638769,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.90253890e-06, 3.16070143e-05,-4.90501513e+00,-7.18899418e-03,
 -1.20732880e-03, 7.08500038e-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,
  9.50376531e-02,-6.99787815e-02, 1.30419140e-01, 9.97067775e-01,
  1.80624736e-04,-4.57474547e-04,-7.65219610e-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,  1.48903225, -1.56093347,  0.12740394, 17.31887697,
  26.92361588, -0.90503659]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005887718058488478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71414822e-14, -9.42829644e-14,  1.00000000e+00,  4.44463869e-27,
        1.00000000e+00,  9.42829644e-14, -1.00000000e+00,  0.00000000e+00,
        4.71414822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08416157, -0.05638514,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.27032687e-05, 1.55642130e-05,-4.90501174e+00,-7.19409029e-03,
 -1.20560128e-03, 7.57078093e-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,
  9.50479751e-02,-6.99998928e-02, 1.30420560e-01, 9.97058152e-01,
  3.17564096e-04,-3.57102192e-04,-7.66473259e-02]

qacc:
[ 1.87378574e+00, 1.15204672e-01,-5.47702150e-01, 2.31752818e+00,
  1.20073065e+00,-1.72690649e+00, 7.77054961e+00,-1.40215040e+01,
  4.23417639e+00,-2.55317391e+00, 9.05201652e+00,-1.28399440e+01,
  9.84056244e-02,-1.22653095e+00,-7.52405684e+00, 2.30601635e+01,
  1.47153976e+00,-1.53642405e+00,-1.62008852e-02, 1.73296842e+01,
  2.62739324e+01,-1.07533398e+00]

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: -0.0005835494032902233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.51267381e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.51267381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08416261, -0.05638248,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.29978700e-05, 2.48145250e-06,-4.90503463e+00,-7.20132821e-03,
 -1.20711768e-03, 8.29823883e-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,
  9.50531754e-02,-7.00080502e-02, 1.30421431e-01, 9.97048397e-01,
  3.69490313e-04,-3.14165029e-04,-7.67740807e-02]

qacc:
[  4.33044667,  1.45269351, -6.95784179, 15.0453043 ,  0.80465427,
   1.68924346, -6.38716543, 10.24096801,  5.84050282, -0.22936052,
  -1.22636077,  6.014936  , -0.73841493,  0.37831839, -4.66439008,
  12.86629643, -1.28044141,  3.23847666, -0.13726297,-40.18062423,
 -31.89137321, -0.67376717]

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([ 6.31478876,  2.90903184, -5.60482746,  2.90903184, 26.6835378 ,
       10.57184007, -5.60482746, 10.57184007, 11.80181216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005859017727159327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.47448085e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.47448085e-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([ 0.10486066, -0.09478842,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.67887229e-05,-7.93501470e-06,-4.90508235e+00,-7.21072595e-03,
 -1.21178533e-03, 9.25445318e-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,
  9.50533245e-02,-7.00035543e-02, 1.30420944e-01, 9.97038425e-01,
  3.37488356e-04,-3.25850012e-04,-7.69035649e-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, -1.2627818 ,  3.16334921, -0.33946304,-39.74383212,
 -30.45275438, -1.34568175]

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([ 6.33697265, -1.02521159,  6.25349211, -1.02521159, 33.39930778,
        4.43666022,  6.25349211,  4.43666022,  7.06432873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005885586060755954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.43171175e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.43171175e-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([ 0.10485384, -0.09479046,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.37700339e-05,-1.17660636e-06,-4.90501067e+00,-7.21197798e-03,
 -1.21934403e-03, 5.67217464e-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,
  9.50484843e-02,-6.99866570e-02, 1.30418399e-01, 9.97028148e-01,
  2.22512276e-04,-3.89886501e-04,-7.70368121e-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 , -1.24732012,  3.1003432 , -0.51462218,-39.35174791,
 -29.28941891, -1.86528915]

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([ 6.32583499, -0.70924563,  6.28594933, -0.70924563, 42.32928179,
        4.06228017,  6.28594933,  4.06228017,  6.78418333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005872247494480981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4531355e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4531355e-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([ 0.104849  , -0.09479353,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.29568130e-05, 1.71045081e-05,-4.90500447e+00,-7.20837308e-03,
 -1.22321475e-03, 5.27903969e-06]


--- 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,
  9.50387080e-02,-6.99575679e-02, 1.30413190e-01, 9.97017464e-01,
  2.53834212e-05,-5.04448863e-04,-7.71746151e-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 , -1.23402122,  3.04792896, -0.66602746,-39.00898156,
 -28.35283983, -2.26518695]

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([ 6.28804313, -0.31203524,  6.2802962 , -0.31203524, 53.52626928,
        2.34702163,  6.2802962 ,  2.34702163,  6.40465442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005826981048545898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90531429e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90531429e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484574, -0.09479744,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.50631310e-05, 4.70746312e-05,-4.90505963e+00,-7.19989961e-03,
 -1.22367740e-03, 7.84619062e-06]


--- 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,
  9.50351758e-02,-6.99352596e-02, 1.30411375e-01, 9.97006811e-01,
 -1.32444326e-04,-5.58460480e-04,-7.73116348e-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, 1.56100012,-1.69518725,
  0.84867117,17.25565286,31.70161761, 0.38098037]

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([ 6.38739104, -2.8361571 ,  5.72319641, -2.8361571 , 30.71141428,
       12.05388498,  5.72319641, 12.05388498, 12.36075085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005945964337523008
  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([ 0.08418809, -0.05637076,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.37840091e-05, 8.87225771e-05,-4.90517303e+00,-7.18655808e-03,
 -1.22094275e-03, 1.31995255e-05]


--- 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,
  9.50377794e-02,-6.99195367e-02, 1.30411981e-01, 9.96996148e-01,
 -2.51090590e-04,-5.55059422e-04,-7.74487611e-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,  1.53396762, -1.64634906,  0.60517739, 17.31273812,
  30.13501011, -0.06068545]

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([ 6.44706443,  1.9596331 , -6.14202555,  1.9596331 , 34.21694876,
        8.86007133, -6.14202555,  8.86007133,  9.27389882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006017439713249528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61252242e-14,  4.61252242e-14,  1.00000000e+00, -2.12753631e-27,
        1.00000000e+00, -4.61252242e-14, -1.00000000e+00,  0.00000000e+00,
        4.61252242e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419519, -0.0563689 ,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.45361681e-05, 5.14312613e-05,-4.90509136e+00,-7.17901305e-03,
 -1.21461188e-03, 1.02797990e-05]


--- 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,
  9.50464250e-02,-6.99102345e-02, 1.30414161e-01, 9.96985431e-01,
 -3.30720330e-04,-4.96788681e-04,-7.75866826e-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, 1.51050063,-1.60517331,
  0.39359556,17.32464088,28.86340803,-0.4023544 ]

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([ 6.46663727,  1.7769164 , -6.21771386,  1.7769164 , 43.30011043,
       10.52637737, -6.21771386, 10.52637737,  9.47489608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006040892188462349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59461529e-14, -4.59461529e-14,  1.00000000e+00, -2.11104897e-27,
        1.00000000e+00,  4.59461529e-14, -1.00000000e+00,  0.00000000e+00,
       -4.59461529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0842002 , -0.05636678,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.18978182e-05, 1.89260260e-05,-4.90504276e+00,-7.17350541e-03,
 -1.21204566e-03, 7.77858163e-06]


--- 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,
  9.50610326e-02,-6.99072152e-02, 1.30417184e-01, 9.96974620e-01,
 -3.71517664e-04,-3.85701485e-04,-7.77259295e-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  ,  1.49049468, -1.57071713,  0.21073779, 17.30839966,
  27.83525205, -0.66533932]

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([ 6.45377105,  1.53137547, -6.26945372,  1.53137547, 55.05351307,
       11.87096296, -6.26945372, 11.87096296,  9.35337002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006025475062714086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.60637134e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.60637134e-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([ 0.08420355, -0.05636442,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.58651905e-05,-9.60932417e-06,-4.90502384e+00,-7.17008237e-03,
 -1.21304460e-03, 5.64039190e-06]


--- 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,
  9.50747507e-02,-6.99146687e-02, 1.30419714e-01, 9.96964036e-01,
 -3.32879099e-04,-2.67571480e-04,-7.78622417e-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,
 -2.22381384e-01,-2.61819944e+00,-1.23259590e-01, 3.93246918e+01,
  6.59736455e+00, 1.45774750e+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([ 6.41414758,  5.80821548,  2.72138241,  5.80821548, 10.66099445,
       -9.06399689,  2.72138241, -9.06399689, 25.7593329 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000597800905805694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29715472e-07, -1.29715379e-07,  1.00000000e+00, -1.68260917e-14,
        1.00000000e+00,  1.29715379e-07, -1.00000000e+00,  0.00000000e+00,
       -1.29715472e-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([ 0.09673116, -0.04687972,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.64375434e-05,-3.47671431e-05,-4.90503210e+00,-7.16877397e-03,
 -1.21745053e-03, 3.82047391e-06]


--- 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,
  9.50874134e-02,-6.99325679e-02, 1.30421057e-01, 9.96953638e-01,
 -2.15323298e-04,-1.45158324e-04,-7.79960064e-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, -0.26382444, -2.61145334, -0.2970553 , 39.17244699,
   5.20701083,  1.26725064]

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([  6.37822417,  -3.52868376,  -5.31320379,  -3.52868376,
        40.99666127, -22.99131027,  -5.31320379, -22.99131027,
        21.6475544 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005934986489446042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40298090e-13, -4.67660300e-14,  1.00000000e+00, -6.56118468e-27,
        1.00000000e+00,  4.67660300e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40298090e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09714114, -0.04657282,  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:
[ 1.48967915e-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,
 -2.48689709e-05,-3.36533544e-05,-4.90503691e+00,-7.17092735e-03,
 -1.21980980e-03, 4.42344554e-06]


--- 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,
  9.50989922e-02,-6.99607825e-02, 1.30420688e-01, 9.96943359e-01,
 -2.02113582e-05,-2.00162200e-05,-7.81277051e-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, -0.27100332, -2.57883376, -0.42762469, 38.5536776 ,
   4.38463874,  1.02920163]

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([  6.3210157 ,  -3.87246735,  -4.99592194,  -3.87246735,
        42.84187523, -28.30825577,  -4.99592194, -28.30825577,
        28.26347147,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005866475658056764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51927952e-07,  3.51928019e-07,  1.00000000e+00,  1.23853307e-13,
        1.00000000e+00, -3.51928019e-07, -1.00000000e+00,  0.00000000e+00,
       -3.51927952e-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([ 0.09727689, -0.04658631,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.43235061e-05,-2.21129476e-05,-4.90507937e+00,-7.17781065e-03,
 -1.22305295e-03, 5.45897727e-06]


--- 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,
  9.51070663e-02,-6.99989024e-02, 1.30418240e-01, 9.96933364e-01,
  2.52080948e-04, 8.77845824e-05,-7.82546897e-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, -0.87616367, -2.4763053 , -0.51992917, 39.14969581,
  -5.62922992,  2.36001447]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005788837602393598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79467166e-14, -1.91786867e-13,  1.00000000e+00, -9.19555054e-27,
        1.00000000e+00,  1.91786867e-13, -1.00000000e+00,  0.00000000e+00,
       -4.79467166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210067, -0.0471227 ,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.01659429e-04,-1.19081527e-06,-4.90515821e+00,-7.18939069e-03,
 -1.22708630e-03, 6.80478882e-06]


--- 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,
  9.51098902e-02,-7.00235139e-02, 1.30417081e-01, 9.96923233e-01,
  4.33256013e-04, 1.33805840e-04,-7.83827948e-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, -1.31254562,  3.37708004,  0.32228573,-43.00157412,
 -34.36035648, -0.56015745]

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([ 6.39510302, -0.15248612, -6.39328481, -0.15248612, 51.09071133,
       -1.06603415, -6.39328481, -1.06603415,  6.42052898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005955200114517029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.32145858e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.32145858e-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([ 0.10477686, -0.09481911,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.30131697e-04, 3.62441971e-05,-4.90526142e+00,-7.20514257e-03,
 -1.23089006e-03, 7.50538209e-06]


--- 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,
  9.51075583e-02,-7.00349981e-02, 1.30416144e-01, 9.96912908e-01,
  5.25447660e-04, 1.21699377e-04,-7.85134571e-02]

qacc:
[  0.97405164, -0.37338029,  1.51169611, -1.92314744,  5.60391474,
  -1.19366996,  3.56611869, -3.24688203,  0.99861706, -0.69392118,
   3.7005946 , -9.92758326, -0.56845724,  0.29774895, -8.90913473,
  27.12521919, -1.28896782,  3.28183292,  0.05545213,-42.07649939,
 -32.46236321, -1.27554332]

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([ 6.48698792,  0.08730965,  6.48640034,  0.08730965, 26.55757901,
       -0.27015851,  6.48640034, -0.27015851,  6.49062437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006065283351754519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15227666e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.15227666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476732, -0.09481652,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -7.88540108e-05, 2.49039394e-05,-4.90510688e+00,-7.21417016e-03,
 -1.23957374e-03, 1.30734330e-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,
  9.51001540e-02,-7.00336799e-02, 1.30414498e-01, 9.96902323e-01,
  5.30502689e-04, 5.44282155e-05,-7.86477782e-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, -1.26808094,  3.20058976, -0.17713986,-41.26793353,
 -30.91884434, -1.82475401]

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([ 6.52965097,  0.3348565 ,  6.52105919,  0.3348565 , 33.17563447,
       -1.36827169,  6.52105919, -1.36827169,  6.59991175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006116445248809665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.07572110e-14, -1.81514422e-13,  1.00000000e+00,  1.64737427e-26,
        1.00000000e+00,  1.81514422e-13, -1.00000000e+00,  0.00000000e+00,
        9.07572110e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476035, -0.09481601,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.62968709e-05, 2.69025922e-05,-4.90502913e+00,-7.21808646e-03,
 -1.24417135e-03,-1.15670616e-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,
  9.50877501e-02,-7.00198343e-02, 1.30411336e-01, 9.96891401e-01,
  4.50001662e-04,-6.56108208e-05,-7.87865977e-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, -1.24990794,  3.13185492, -0.37898694,-40.57026586,
 -29.66778961, -2.24390551]

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([ 6.53231449,  0.64584494,  6.50030899,  0.64584494, 41.40327064,
       -3.46463999,  6.50030899, -3.46463999,  6.87654739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006119640856496605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.07098187e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.07098187e-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([ 0.10475544, -0.09481719,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.33265098e-07, 4.20669147e-05,-4.90502103e+00,-7.21692116e-03,
 -1.24505213e-03,-2.56977645e-07]


--- 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,
  9.50704087e-02,-6.99936920e-02, 1.30405960e-01, 9.96880048e-01,
  2.85281521e-04,-2.36486892e-04,-7.89305500e-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,
 -1.23436447e+00, 3.07418169e+00,-5.53642370e-01,-3.99760888e+01,
 -2.86583398e+01,-2.56112779e+00]

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([ 6.50280462,  1.02255689,  6.42190356,  1.02255689, 51.15834367,
       -7.11048192,  6.42190356, -7.11048192,  7.63500355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006084245968688701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8247504e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8247504e-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([ 0.10475216, -0.09481973,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.13439842e-05, 7.00964125e-05,-4.90507717e+00,-7.21071258e-03,
 -1.24249470e-03, 3.72419832e-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,
  9.50481821e-02,-6.99554447e-02, 1.30397765e-01, 9.96868159e-01,
  3.74581984e-05,-4.56653411e-04,-7.90801078e-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, -1.22130544,  3.02622496, -0.70452249,-39.47727845,
 -27.84888637, -2.79833203]

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([  6.44773298,   1.46282505,   6.27960217,   1.46282505,
        61.97270817, -12.93446983,   6.27960217, -12.93446983,
         9.46080069,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006018240693394794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22381707e-14, -9.22381707e-14,  1.00000000e+00,  8.50788013e-27,
        1.00000000e+00,  9.22381707e-14, -1.00000000e+00,  0.00000000e+00,
        9.22381707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475015, -0.09482336,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.93914375e-05, 1.10628619e-04,-4.90519347e+00,-7.19950128e-03,
 -1.23670876e-03, 1.05737489e-05]


--- 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,
  9.50323494e-02,-6.99242871e-02, 1.30394414e-01, 9.96856340e-01,
 -1.71032930e-04,-6.12704215e-04,-7.92277295e-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, 1.59846844,-1.77239384,
  1.21069299,17.06980906,33.51270779, 0.95757943]

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([ 6.5037847 , -2.84787682,  5.84712007, -2.84787682, 32.3061962 ,
       12.56722776,  5.84712007, 12.56722776, 12.62473249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000608542116340996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.82439801e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.82439801e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08424554, -0.0563276 ,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.49394068e-05, 1.63275489e-04,-4.90536691e+00,-7.18332606e-03,
 -1.22785142e-03, 2.01332233e-05]


--- 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,
  9.50227721e-02,-6.98999724e-02, 1.30394714e-01, 9.96844552e-01,
 -3.40235539e-04,-7.08497254e-04,-7.93745622e-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, 1.56384435,-1.71073825,
  0.91301297,17.19570675,31.59048044, 0.38766357]

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([ 6.60728255,  2.41655697, -6.1495069 ,  2.41655697, 26.21697875,
        7.70597527, -6.1495069 ,  7.70597527,  9.63548116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006209677740725839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34091865e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.34091865e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08425485, -0.0563257 ,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.94785369e-05, 1.17113088e-04,-4.90522795e+00,-7.17347336e-03,
 -1.21472428e-03, 1.68352735e-05]


--- 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,
  9.50193285e-02,-6.98822918e-02, 1.30397629e-01, 9.96832760e-01,
 -4.70277549e-04,-7.47172930e-04,-7.95214971e-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,  1.53342729, -1.65852538,  0.65376524, 17.25164557,
  30.02276047, -0.05531238]

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([ 6.65974957,  2.28696315, -6.2547633 ,  2.28696315, 33.07868877,
        9.65970054, -6.2547633 ,  9.65970054, 10.19167846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006272823090362201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.42473432e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.42473432e-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([ 0.08426156, -0.0563235 ,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.06820002e-05, 7.71590262e-05,-4.90512747e+00,-7.16556156e-03,
 -1.20560194e-03, 1.40229866e-05]


--- 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,
  9.50219133e-02,-6.98710696e-02, 1.30402263e-01, 9.96820929e-01,
 -5.61333078e-04,-7.31281163e-04,-7.96692251e-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, 1.50712576,-1.61460621,
  0.42944462,17.26155256,28.74761101,-0.39853007]

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([ 6.67077838,  2.09376626, -6.33367406,  2.09376626, 42.22331916,
       11.75284827, -6.33367406, 11.75284827, 10.55599838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006286113376536423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41537942e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.41537942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08426621, -0.05632103,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.85389566e-05, 4.22266474e-05,-4.90506073e+00,-7.15966639e-03,
 -1.20023373e-03, 1.16303023e-05]


--- 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,
  9.50304371e-02,-6.98661592e-02, 1.30407841e-01, 9.96809022e-01,
 -6.13595672e-04,-6.62885420e-04,-7.98182789e-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,  1.48473268, -1.57792402,  0.23635862, 17.24282395,
  27.71417698, -0.66328489]

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([ 6.64846929,  1.83250545, -6.39093637,  1.83250545, 54.21170652,
       13.63804715, -6.39093637, 13.63804715, 10.5589754 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006259236139431329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55201869e-13, -4.43433911e-14,  1.00000000e+00, -6.88217717e-27,
        1.00000000e+00,  4.43433911e-14, -1.00000000e+00,  0.00000000e+00,
       -1.55201869e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08426921, -0.05631834,  0.06198067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.30532691e-05, 1.14483643e-05,-4.90502418e+00,-7.15583778e-03,
 -1.19841958e-03, 9.60169752e-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,
  9.50448249e-02,-6.98674388e-02, 1.30413704e-01, 9.96797000e-01,
 -6.27259619e-04,-5.43647642e-04,-7.99690671e-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,  1.46598261, -1.54753183,  0.07088486, 17.20806734,
  26.8808329 , -0.86626214]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006200480456683005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23817943e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.23817943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08427092, -0.05631548,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.42323291e-05,-1.58119209e-05,-4.90501518e+00,-7.15410790e-03,
 -1.20000042e-03, 7.89196852e-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,
  9.50580819e-02,-6.98791105e-02, 1.30418432e-01, 9.96785228e-01,
 -5.60905494e-04,-4.19595835e-04,-8.01169047e-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, -0.28267167, -2.59800667, -0.28340633, 39.68928138,
   5.5979325 ,  1.46037623]

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([ 6.54271033,  5.73910824,  3.14160709,  5.73910824, 11.27037106,
       -8.63652131,  3.14160709, -8.63652131, 22.31996355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006132115379028913
  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([ 0.09724373, -0.04658432,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.07922905e-06,-4.00194719e-05,-4.90503174e+00,-7.15449676e-03,
 -1.20485041e-03, 6.46535656e-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,
  9.50702517e-02,-6.99010528e-02, 1.30421481e-01, 9.96773635e-01,
 -4.16226891e-04,-2.91922556e-04,-8.02624519e-02]

qacc:
[ -4.83559555,  2.31915366, -9.20455469, 15.70136596,  1.62668362,
   1.35403152, -7.91909551, 19.87239433,  2.88365232, -1.20358204,
   5.06440863, -9.40725922, -0.88334793,  0.79976499,  2.19965772,
 -12.24489637, -0.27183125, -2.56766685, -0.41982164, 38.89180187,
   4.94186778,  1.13331684]

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([  6.47781693,  -4.36814649,  -4.78345152,  -4.36814649,
        31.79238155, -23.1167236 ,  -4.78345152, -23.1167236 ,
        27.58751872,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006054290579527305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29222361e-14, -9.16889444e-14,  1.00000000e+00, -2.10171563e-27,
        1.00000000e+00,  9.16889444e-14, -1.00000000e+00,  0.00000000e+00,
       -2.29222361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09724798, -0.04658358,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.23195845e-05,-3.44710909e-05,-4.90504920e+00,-7.15827090e-03,
 -1.20728474e-03, 7.28870709e-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,
  9.50813700e-02,-6.99331660e-02, 1.30422384e-01, 9.96762146e-01,
 -1.94588138e-04,-1.61554882e-04,-8.04062179e-02]

qacc:
[-2.86771956e+00,-9.93305674e-01, 2.57453255e+00, 1.10840511e-01,
  4.04414963e+00, 2.51974807e-02, 1.90386840e+00,-7.66775953e+00,
  4.80578552e+00,-8.40373585e-01, 4.57558522e+00,-1.22186861e+01,
 -1.29017589e+00, 1.79280366e+00,-4.80302135e+00, 1.24384237e+01,
 -2.62844231e-01,-2.54271332e+00,-5.36593247e-01, 3.82480775e+01,
  4.43100062e+00, 8.81128172e-01]

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([  6.39597752,  -4.54892893,  -4.49619552,  -4.54892893,
        35.46384878, -29.40879237,  -4.49619552, -29.40879237,
        36.14968949,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000595624742698253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.98986466e-14, -1.39797293e-13,  1.00000000e+00,  9.77164161e-27,
        1.00000000e+00,  1.39797293e-13, -1.00000000e+00,  0.00000000e+00,
        6.98986466e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09725147, -0.0465817 ,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.42655308e-05,-1.94199476e-05,-4.90510453e+00,-7.16679145e-03,
 -1.21064013e-03, 8.46309229e-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,
  9.50914007e-02,-6.99753618e-02, 1.30420748e-01, 9.96750684e-01,
  1.02962194e-04,-2.97282991e-05,-8.05485152e-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, -0.27190133, -2.52063653, -0.63481869, 37.77436392,
   3.77883424,  0.72712328]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843081406255343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53713305e-07,  5.53713359e-07,  1.00000000e+00,  3.06598454e-13,
        1.00000000e+00, -5.53713359e-07, -1.00000000e+00,  0.00000000e+00,
       -5.53713305e-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([ 0.0973856 , -0.0465942 ,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24246085e-04, 4.58922615e-06,-4.90519581e+00,-7.17998978e-03,
 -1.21477245e-03, 9.94102756e-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,
  9.50962809e-02,-7.00039839e-02, 1.30420405e-01, 9.96739159e-01,
  3.09883644e-04, 3.87283952e-05,-8.06904635e-02]

qacc:
[  2.77582741, -0.94212675,  5.88216587,-15.80817915,  0.35366398,
  -0.58965095,  3.50264638, -6.90467329,  2.8067424 ,  1.30313028,
  -3.57226678,  2.55640029, -0.05778733, -0.68431507, -8.96636406,
  27.43399811, -1.28765094,  3.39339931,  0.32333604,-42.61501813,
 -35.23198496,  0.1760288 ]

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([ 6.29092581,  0.63068012, -6.2592324 ,  0.63068012, 41.53634818,
        3.55132798, -6.2592324 ,  3.55132798,  6.64875754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005830434352675357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52092895e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52092895e-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([ 0.10466302, -0.09486656,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.62425552e-04, 3.74576156e-05,-4.90532139e+00,-7.19779575e-03,
 -1.21954957e-03, 1.16658858e-05]


--- 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,
  9.50960938e-02,-7.00194178e-02, 1.30420300e-01, 9.96727500e-01,
  4.28155140e-04, 4.78274413e-05,-8.08338159e-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, -1.26681672,  3.2970612 ,  0.05953848,-41.78559499,
 -33.15886452, -0.69774727]

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([ 6.39093135, -0.20402868,  6.38767374, -0.20402868, 24.0434745 ,
        0.56383986,  6.38767374,  0.56383986,  6.40894096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000595020414203104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.32928517e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.32928517e-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([ 0.10465198, -0.09486404,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.02956127e-04, 2.55596787e-05,-4.90514385e+00,-7.20797929e-03,
 -1.23045981e-03, 4.12651235e-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,
  9.50909144e-02,-7.00219925e-02, 1.30419512e-01, 9.96715627e-01,
  4.59505523e-04, 8.18372308e-07,-8.09799240e-02]

qacc:
[-2.70858928e+00,-1.04215238e+00, 3.71721503e+00,-4.03439340e+00,
 -1.74416728e+00,-9.87201404e-01, 5.20230398e+00,-1.19377813e+01,
  2.79483140e+00,-7.36167865e-01, 3.61940728e-02, 7.24492839e+00,
 -1.50381467e+00, 2.16488342e+00, 3.43428076e+00,-1.36820941e+01,
 -1.24805293e+00, 3.21480748e+00,-1.70792657e-01,-4.10505040e+01,
 -3.14759182e+01,-1.37203290e+00]

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([ 6.44144770e+00,  1.13905999e-02,  6.44143763e+00,  1.13905999e-02,
        2.99187898e+01, -4.15157339e-02,  6.44143763e+00, -4.15157339e-02,
        6.44152111e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0006010710652114004
  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([ 0.10464381, -0.09486353,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.36485881e-05, 2.61243043e-05,-4.90504432e+00,-7.21316085e-03,
 -1.23704702e-03, 4.38196975e-07]


--- 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,
  9.50808090e-02,-7.00119866e-02, 1.30417240e-01, 9.96703455e-01,
  4.05426166e-04,-9.96739294e-05,-8.11298249e-02]

qacc:
[  1.48896779, -1.42126202,  4.27750968, -3.74133613, -0.95885554,
  -4.10452061, 18.36265016,-35.94876122,  1.53262961, -1.45666456,
   5.61609197, -8.45717026, -0.28004222, -0.29969347, -1.94243952,
   2.87256885, -1.23151182,  3.14514721, -0.37094962,-40.40897446,
 -30.11370535, -1.89000952]

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([ 6.45158531,  0.28770677,  6.44516701,  0.28770677, 37.36267796,
       -1.37984488,  6.44516701, -1.37984488,  6.51318041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000602285620909554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21674855e-14, -1.84334971e-13,  1.00000000e+00,  1.69896908e-26,
        1.00000000e+00,  1.84334971e-13, -1.00000000e+00,  0.00000000e+00,
        9.21674855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10463792, -0.09486465,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.17682759e-05, 3.92917241e-05,-4.90501542e+00,-7.21333861e-03,
 -1.23974058e-03, 2.05373722e-07]


--- 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,
  9.50658348e-02,-6.99896341e-02, 1.30412791e-01, 9.96690888e-01,
  2.67187226e-04,-2.51536788e-04,-8.12843088e-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, -1.21721142,  3.0866331 , -0.54433143,-39.85738011,
 -29.01548121, -2.28537388]

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([ 6.4291557 ,  0.62921125,  6.39829166,  0.62921125, 46.45413385,
       -3.93607665,  6.39829166, -3.93607665,  6.81623147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005995985673289683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.25805268e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.25805268e-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([ 0.10463383, -0.09486709,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.46908572e-05, 6.49774314e-05,-4.90505152e+00,-7.20852848e-03,
 -1.23886452e-03, 3.12552367e-06]


--- 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,
  9.50460402e-02,-6.99551300e-02, 1.30405565e-01, 9.96677818e-01,
  4.58552977e-05,-4.53078319e-04,-8.14439720e-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, -1.20508758,  3.03791608, -0.69423928,-39.39054914,
 -28.13497472, -2.58442276]

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([ 6.38079397,  1.0375067 ,  6.29588052,  1.0375067 , 56.99430122,
       -8.34066857,  6.29588052, -8.34066857,  7.75526407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005938063947240613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34835861e-14, -9.34835861e-14,  1.00000000e+00,  8.73918087e-27,
        1.00000000e+00,  9.34835861e-14, -1.00000000e+00,  0.00000000e+00,
        9.34835861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10463117, -0.09487058,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.72033587e-05, 1.02968758e-04,-4.90514838e+00,-7.19875503e-03,
 -1.23466276e-03, 8.96953990e-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,
  9.50325211e-02,-6.99276798e-02, 1.30402683e-01, 9.96664859e-01,
 -1.36810402e-04,-5.90775025e-04,-8.16014168e-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, 1.56887073,-1.76347434,
  1.08586437,16.66949857,33.39100375, 1.09978093]

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([ 6.43593632, -2.79366067,  5.79799416, -2.79366067, 29.99670121,
       11.35233676,  5.79799416, 11.35233676, 11.90585847,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000600410817874944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24552816e-14,  1.84910563e-13,  1.00000000e+00, -1.70959582e-26,
        1.00000000e+00, -1.84910563e-13, -1.00000000e+00,  0.00000000e+00,
        9.24552816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08430641, -0.05627332,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.68576496e-05, 1.52982403e-04,-4.90530287e+00,-7.18404567e-03,
 -1.22731819e-03, 1.75662341e-05]


--- 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,
  9.50251554e-02,-6.99070484e-02, 1.30403032e-01, 9.96651960e-01,
 -2.80701685e-04,-6.68465820e-04,-8.17578487e-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, 1.5383498 ,-1.70470812,
  0.80790637,16.87456961,31.48486373, 0.49986753]

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([ 6.52652906,  2.41055894, -6.06504634,  2.41055894, 26.11948868,
        7.78724206, -6.06504634,  7.78724206,  9.62157647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000611269991129218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54064096e-14, -4.54064096e-14,  1.00000000e+00,  2.06174204e-27,
        1.00000000e+00,  4.54064096e-14, -1.00000000e+00,  0.00000000e+00,
        4.54064096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08431576, -0.05627097,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.82546574e-05, 1.07016453e-04,-4.90517849e+00,-7.17585510e-03,
 -1.21531112e-03, 1.46848782e-05]


--- 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,
  9.50238356e-02,-6.98930374e-02, 1.30405644e-01, 9.96639072e-01,
 -3.85818919e-04,-6.89267052e-04,-8.19142053e-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, 1.51146652,-1.65508388,
  0.56586773,16.99655903,29.93458231, 0.03302026]

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([ 6.56978593,  2.28050193, -6.16128218,  2.28050193, 32.84591294,
        9.72569615, -6.16128218,  9.72569615, 10.16959976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006164620199227699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.75359748e-14,  4.50239832e-14,  1.00000000e+00, -3.04073859e-27,
        1.00000000e+00, -4.50239832e-14, -1.00000000e+00,  0.00000000e+00,
        6.75359748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08432253, -0.05626843,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.64639248e-05, 6.72996365e-05,-4.90509151e+00,-7.16955457e-03,
 -1.20728268e-03, 1.22332924e-05]


--- 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,
  9.50284685e-02,-6.98854802e-02, 1.30409682e-01, 9.96626149e-01,
 -4.52229033e-04,-6.55702102e-04,-8.20712139e-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, 1.48819268,-1.61346323,
  0.35640752,17.06160136,28.67717586,-0.329173  ]

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([ 6.57458099,  2.09011178, -6.23350206,  2.09011178, 41.7734899 ,
       11.80229884, -6.23350206, 11.80229884, 10.53192689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006170379276235483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12454901e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.12454901e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08432725, -0.05626572,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.14342564e-05, 3.26315568e-05,-4.90503739e+00,-7.16523111e-03,
 -1.20298741e-03, 1.01589529e-05]


--- 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,
  9.50389750e-02,-6.98842383e-02, 1.30414424e-01, 9.96613147e-01,
 -4.80035311e-04,-5.69807039e-04,-8.22294364e-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,  1.4683855 , -1.57881197,  0.17605349, 17.08898216,
  27.66115999, -0.60899478]

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([ 6.54846234,  1.83480617, -6.286163  ,  1.83480617, 53.45372203,
       13.690714  , -6.286163  , 13.690714  , 10.54450992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006139018864593365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78176177e-14, -4.52117451e-14,  1.00000000e+00, -3.06615284e-27,
        1.00000000e+00,  4.52117451e-14, -1.00000000e+00,  0.00000000e+00,
       -6.78176177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08433034, -0.05626287,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.31361654e-05, 2.13986541e-06,-4.90501279e+00,-7.16294363e-03,
 -1.20222954e-03, 8.41687622e-06]


--- 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,
  9.50552888e-02,-6.98891972e-02, 1.30419252e-01, 9.96600017e-01,
 -4.69355790e-04,-4.33216567e-04,-8.23893042e-02]

qacc:
[ 2.82374018e+00,-1.67109879e+00, 5.39467366e+00,-6.40245571e+00,
 -5.89228426e+00, 1.16147071e+00,-3.36127544e+00, 1.57525990e+00,
  2.97450875e+00,-2.80079432e-01, 3.59337623e+00,-1.20465541e+01,
 -1.06531287e+00, 1.25753780e+00,-2.21210588e+00, 4.02797587e+00,
  1.45184019e+00,-1.55021066e+00, 2.14203111e-02, 1.70929005e+01,
  2.68445468e+01,-8.23920247e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006078272659072181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13271818e-14, -9.13271818e-14,  1.00000000e+00,  8.34065414e-27,
        1.00000000e+00,  9.13271818e-14, -1.00000000e+00,  0.00000000e+00,
        9.13271818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08433214, -0.05625989,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.15495285e-05,-2.48109212e-05,-4.90501521e+00,-7.16273148e-03,
 -1.20485367e-03, 6.97010931e-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,
  9.50706389e-02,-6.99043770e-02, 1.30422836e-01, 9.96587111e-01,
 -3.79931547e-04,-2.90181588e-04,-8.25463588e-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,
 -2.40949255e-01,-2.55523713e+00,-3.11072169e-01, 3.89736778e+01,
  6.45454802e+00, 1.39548187e+00]

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([ 6.43422577,  5.66639171,  3.04815785,  5.66639171, 10.87918184,
       -8.26297833,  3.04815785, -8.26297833, 21.79474   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006002059071071759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20982902e-07,  9.20982809e-07,  1.00000000e+00, -8.48209420e-13,
        1.00000000e+00, -9.20982809e-07, -1.00000000e+00,  0.00000000e+00,
        9.20982902e-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([ 0.09694313, -0.0468952 ,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.33453669e-05,-4.86822080e-05,-4.90504283e+00,-7.16462053e-03,
 -1.21073714e-03, 5.78939704e-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,
  9.50848583e-02,-6.99297850e-02, 1.30424582e-01, 9.96574377e-01,
 -2.12230296e-04,-1.43373040e-04,-8.27009392e-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, -0.28265776, -2.55704108, -0.45934357, 38.84957405,
   5.11064166,  1.2293566 ]

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([  6.37008734,  -4.13085459,  -4.8491291 ,  -4.13085459,
        35.77299356, -25.04761737,  -4.8491291 , -25.04761737,
        27.70754056,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005925242325002106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02644063e-14, -1.40528813e-13,  1.00000000e+00,  9.87417359e-27,
        1.00000000e+00,  1.40528813e-13, -1.00000000e+00,  0.00000000e+00,
        7.02644063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09735913, -0.04658916,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.01805980e-05,-4.08683713e-05,-4.90507358e+00,-7.16976562e-03,
 -1.21425921e-03, 6.78142879e-06]


--- 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,
  9.50979184e-02,-6.99653247e-02, 1.30424062e-01, 9.96561737e-01,
  3.24561640e-05, 5.71436909e-06,-8.28535012e-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,-0.28982581,-2.53292133,
 -0.5666471 ,38.26666745, 4.31869445, 1.00434788]

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([  6.29009543,  -4.35721892,  -4.53651229,  -4.35721892,
        36.50047831, -29.01639926,  -4.53651229, -29.01639926,
        34.15970004,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005829439605192511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40567531e-07,  3.40567334e-07,  1.00000000e+00,  1.15986176e-13,
        1.00000000e+00, -3.40567334e-07, -1.00000000e+00,  0.00000000e+00,
       -3.40567531e-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([ 0.09749324, -0.04660327,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05053157e-04,-2.27018990e-05,-4.90514081e+00,-7.17959200e-03,
 -1.21863772e-03, 8.16241767e-06]


--- 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,
  9.51059853e-02,-6.99874448e-02, 1.30424215e-01, 9.96549095e-01,
  1.88388422e-04, 9.21799979e-05,-8.30051634e-02]

qacc:
[  4.20916113,  3.14837444,-13.68152979, 26.34911152, -1.47086783,
  -0.57820846,  4.17319601,-12.60643189, -3.47237115, -0.24369046,
   2.43134492, -8.37046225, -1.20614779,  1.63929559, -5.62379289,
  15.38961586, -1.2483037 ,  3.3549041 ,  0.16822461,-41.6303082 ,
 -34.88001952,  0.44906775]

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([ 6.24160087,  0.55905344, -6.21651355,  0.55905344, 37.16021007,
        2.78052236, -6.21651355,  2.78052236,  6.49165431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005771330114236611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92368657e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92368657e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1045495 , -0.09491216,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.47707319e-04, 4.69554269e-06,-4.90524327e+00,-7.19407534e-03,
 -1.22379165e-03, 9.82222999e-06]


--- 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,
  9.51091278e-02,-6.99965022e-02, 1.30424076e-01, 9.96536352e-01,
  2.57183837e-04, 1.19971834e-04,-8.31577969e-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, -1.23109197,  3.26567223, -0.07285946,-40.98290343,
 -32.8521488 , -0.48670531]

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([ 6.32029392, -0.4391902 ,  6.30501603, -0.4391902 , 24.35928484,
        1.25654684,  6.30501603,  1.25654684,  6.40782154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005865611204309007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.46383067e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.46383067e-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([ 0.10453858, -0.09491105,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.66349675e-05, 1.97557375e-06,-4.90509159e+00,-7.20086397e-03,
 -1.23588956e-03, 2.65066866e-06]


--- 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,
  9.51074087e-02,-6.99928003e-02, 1.30422805e-01, 9.96523408e-01,
  2.40264090e-04, 9.22791569e-05,-8.33128499e-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, -1.21541566,  3.1898203 , -0.28312448,-40.40198128,
 -31.21040818, -1.21191797]

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([ 6.3547237 , -0.22574248,  6.35071284, -0.22574248, 30.28631337,
        0.85067246,  6.35071284,  0.85067246,  6.38496171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005906843907997339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87955369e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87955369e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10453047, -0.09491162,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.53178264e-05, 1.06409932e-05,-4.90501481e+00,-7.20277807e-03,
 -1.24371494e-03,-8.20496977e-07]


--- 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,
  9.51008837e-02,-6.99765950e-02, 1.30419670e-01, 9.96510160e-01,
  1.38859856e-04, 1.16718497e-05,-8.34714387e-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 , -1.20147472,  3.12585807, -0.46576248,-39.89095135,
 -29.8850666 , -1.77192114]

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([ 6.35312898,  0.04800752,  6.35294759,  0.04800752, 37.80679941,
       -0.23768694,  6.35294759, -0.23768694,  6.35492511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005904934173207865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40080780e-14, -9.40080780e-14,  1.00000000e+00,  8.83751873e-27,
        1.00000000e+00,  9.40080780e-14, -1.00000000e+00,  0.00000000e+00,
        9.40080780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1045246 , -0.09491355,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.90807577e-06, 3.10822084e-05,-4.90500632e+00,-7.19978823e-03,
 -1.24769125e-03,-9.49446852e-07]


--- 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,
  9.50896013e-02,-6.99481001e-02, 1.30414040e-01, 9.96496497e-01,
 -4.59800741e-05,-1.19786650e-04,-8.36344185e-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,
 -1.18933984e+00, 3.07237496e+00,-6.23986112e-01,-3.94498943e+01,
 -2.88194167e+01,-2.20216842e+00]

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([ 6.32258842,  0.38702637,  6.31073173,  0.38702637, 47.04465848,
       -2.49741481,  6.31073173, -2.49741481,  6.4757506 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005868359253043964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45939893e-14, -9.45939893e-14,  1.00000000e+00,  8.94802281e-27,
        1.00000000e+00,  9.45939893e-14, -1.00000000e+00,  0.00000000e+00,
        9.45939893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10452051, -0.09491657,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.79980573e-05, 6.34084026e-05,-4.90506113e+00,-7.19188780e-03,
 -1.24813811e-03, 1.99015040e-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,
  9.50844622e-02,-6.99265240e-02, 1.30411790e-01, 9.96482945e-01,
 -1.92815231e-04,-1.89205719e-04,-8.37953936e-02]

qacc:
[ -0.06926224, -1.45213609,  6.7255338 ,-12.59359975, -1.26538197,
  -0.20067698,  1.72075073, -4.61782176,  2.3947179 ,  4.17808015,
 -17.96717593, 32.82863581, -0.70921723,  0.49832611, -5.34208536,
  14.09215881,  1.5358226 , -1.72967036,  0.84502629, 16.34161912,
  32.50025216,  1.00267993]

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([ 6.31834479, -2.70600495,  5.70955498, -2.70600495, 27.50056496,
       10.03916995,  5.70955498, 10.03916995, 11.07634146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005863276769686315
  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([ 0.08436137, -0.05622511,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.33898520e-05, 1.07556154e-04,-4.90517548e+00,-7.17908280e-03,
 -1.24529605e-03, 7.79147421e-06]


--- 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,
  9.50779303e-02,-6.99161711e-02, 1.30410874e-01, 9.96469882e-01,
 -2.57898270e-04,-2.48414041e-04,-8.39502559e-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, -0.34817983, -2.80582028,  0.33361829, 40.3051145 ,
   8.5121004 ,  3.05936333]

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([ 6.38895371,  6.29977479,  1.06375143,  6.29977479,  6.89734898,
       -3.01083097,  1.06375143, -3.01083097, 24.21977071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00059478357509897
  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([ 0.09741975, -0.04659119,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.06951004e-05, 6.54126709e-05,-4.90508960e+00,-7.17273324e-03,
 -1.23766870e-03, 5.18642344e-06]


--- 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,
  9.50700756e-02,-6.99167889e-02, 1.30410407e-01, 9.96457213e-01,
 -2.42948202e-04,-2.99857881e-04,-8.41003743e-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, -0.33071618, -2.74264639,  0.11222982, 39.55001536,
   7.22737328,  2.3711686 ]

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([ 6.42190944, -1.25188806, -6.29870599, -1.25188806, 32.2544512 ,
       -5.13430069, -6.29870599, -5.13430069,  7.4423682 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005987305896629908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.95360554e-14, -9.27147405e-14,  1.00000000e+00,  6.44701733e-27,
        1.00000000e+00,  9.27147405e-14, -1.00000000e+00,  0.00000000e+00,
        6.95360554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09742766, -0.04659245,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.12633771e-05, 4.76713707e-05,-4.90503047e+00,-7.16977908e-03,
 -1.22748753e-03, 4.18152271e-06]


--- 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,
  9.50679759e-02,-6.99240915e-02, 1.30411333e-01, 9.96444492e-01,
 -1.89162291e-04,-2.99941712e-04,-8.42511035e-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,
  1.43874710e+00,-1.67122693e+00, 3.48021722e-01, 1.71893320e+01,
  2.72221465e+01,-3.06060852e-01]

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([  6.42665551,  -4.30762682,  -4.76930311,  -4.30762682,
        18.07368748, -10.51958034,  -4.76930311, -10.51958034,
        15.92792336,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005992990810367858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09282033e-06,  1.09282023e-06,  1.00000000e+00,  1.19425617e-12,
        1.00000000e+00, -1.09282023e-06, -1.00000000e+00,  2.01948392e-28,
       -1.09282033e-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([ 0.08477938, -0.05592013,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.60702542e-06, 4.17712514e-05,-4.90501490e+00,-7.17154704e-03,
 -1.21877136e-03, 3.80858364e-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,
  9.50717698e-02,-6.99377957e-02, 1.30412943e-01, 9.96431667e-01,
 -9.76717943e-05,-2.48973189e-04,-8.44029653e-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,  1.47337687, -1.60039366,  0.17117841, 16.63447523,
  27.0238372 , -0.56951294]

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([ 6.4076151 ,  2.53413414, -5.88520989,  2.53413414, 54.04105333,
       20.51065713, -5.88520989, 20.51065713, 15.2393743 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000597018508670083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64903101e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.64903101e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08438143, -0.05621146,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.52775106e-05, 2.13166094e-05,-4.90500962e+00,-7.17660437e-03,
 -1.21660965e-03, 4.20424737e-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,
  9.50813842e-02,-6.99577860e-02, 1.30414629e-01, 9.96418682e-01,
  3.17029784e-05,-1.48296452e-04,-8.45564195e-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,
  1.45516583e+00,-1.57153456e+00, 1.91443661e-02, 1.67765802e+01,
  2.63642492e+01,-8.02402248e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005918373333398536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37946089e-14,  9.37946089e-14,  1.00000000e+00, -8.79742866e-27,
        1.00000000e+00, -9.37946089e-14, -1.00000000e+00,  0.00000000e+00,
        9.37946089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08438265, -0.05620785,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.87379946e-05, 3.42459469e-06,-4.90502958e+00,-7.18373036e-03,
 -1.21780692e-03, 4.82415927e-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,
  9.50967594e-02,-6.99839694e-02, 1.30415872e-01, 9.96405474e-01,
  1.99089337e-04, 1.01193357e-06,-8.47118191e-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,  1.44017313, -1.54826185, -0.11097886, 16.88152767,
  25.83575731, -0.98222129]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000584413203711498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89972269e-13, -1.89972269e-13,  1.00000000e+00,  3.60894631e-26,
        1.00000000e+00,  1.89972269e-13, -1.00000000e+00,  0.00000000e+00,
        1.89972269e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08438304, -0.05620432,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.55793656e-05,-1.15269552e-05,-4.90507416e+00,-7.19292721e-03,
 -1.22216529e-03, 5.64379728e-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,
  9.51072439e-02,-6.99968919e-02, 1.30417124e-01, 9.96392273e-01,
  2.80635507e-04, 9.04164133e-05,-8.48666632e-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,
 -1.22266394e+00, 3.31524313e+00, 2.34838002e-03,-4.02285341e+01,
 -3.34800748e+01, 2.82990234e-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([ 6.37673236,  2.90570121, -5.67623256,  2.90570121, 25.08379796,
        9.57627132, -5.67623256,  9.57627132, 11.27888935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005933199980316939
  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([ 0.10445545, -0.09493657,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05848066e-04,-2.37925330e-05,-4.90514235e+00,-7.20422441e-03,
 -1.22961096e-03, 6.66301850e-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,
  9.51129033e-02,-6.99968927e-02, 1.30417493e-01, 9.96378965e-01,
  2.77455764e-04, 1.23400901e-04,-8.50227361e-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, -1.20628458,  3.23039612, -0.2207049 ,-39.81596389,
 -31.70359235, -0.6127238 ]

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([ 6.41660255, -1.17466645,  6.30816511, -1.17466645, 26.26275852,
        3.69562513,  6.30816511,  3.69562513,  7.1047784 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005980949464896579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28132758e-14, -9.28132758e-14,  1.00000000e+00,  8.61430417e-27,
        1.00000000e+00,  9.28132758e-14, -1.00000000e+00,  0.00000000e+00,
        9.28132758e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10444624, -0.09493829,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.88004428e-05,-1.62137182e-05,-4.90503647e+00,-7.20646604e-03,
 -1.24139829e-03, 8.97182916e-07]


--- 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,
  9.51137963e-02,-6.99842573e-02, 1.30416206e-01, 9.96365434e-01,
  1.90545926e-04, 1.02775558e-04,-8.51814217e-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, -1.19157424,  3.15905779, -0.41404259,-39.43423375,
 -30.26768415, -1.3087257 ]

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([ 6.41857926, -0.93089647,  6.35071582, -0.93089647, 33.07370732,
        3.90714453,  6.35071582,  3.90714453,  6.99129376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005983317074909483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27765494e-14, -1.85553099e-13,  1.00000000e+00,  1.72149762e-26,
        1.00000000e+00,  1.85553099e-13, -1.00000000e+00,  0.00000000e+00,
        9.27765494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10443951, -0.09494117,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.68766945e-07, 1.96937591e-06,-4.90499958e+00,-7.20395180e-03,
 -1.24917583e-03,-1.48081532e-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,
  9.51099749e-02,-6.99592238e-02, 1.30412595e-01, 9.96351563e-01,
  2.07759353e-05, 3.08006366e-05,-8.53437885e-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, -1.17863299,  3.09953321, -0.58115272,-39.0922595 ,
 -29.11087839, -1.84784813]

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([ 6.39008024, -0.61668374,  6.36025366, -0.61668374, 41.865301  ,
        3.43964143,  6.36025366,  3.43964143,  6.72358438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005949184862544532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.33088356e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.33088356e-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([ 0.10443474, -0.09494499,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.32916256e-05, 3.12579162e-05,-4.90502659e+00,-7.19663606e-03,
 -1.25330859e-03,-7.51347984e-07]


--- 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,
  9.51014835e-02,-6.99219891e-02, 1.30406082e-01, 9.96337225e-01,
 -2.31111488e-04,-9.07132990e-05,-8.55106577e-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, -1.16746829,  3.05029041, -0.72536636,-38.79492014,
 -28.18328407, -2.26361272]

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([ 6.33741473, -0.22500026,  6.33341933, -0.22500026, 52.87616117,
        1.65332965,  6.33341933,  1.65332965,  6.39615071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005886115485427834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.43086342e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.43086342e-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([ 0.10443151, -0.09494955,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.22117280e-05, 7.18651002e-05,-4.90511367e+00,-7.18449638e-03,
 -1.25407222e-03, 2.87116909e-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,
  9.50886061e-02,-6.98959912e-02, 1.30402382e-01, 9.96323748e-01,
 -3.98919763e-04,-2.21359238e-04,-8.56666815e-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 ,-1.09652441,-2.80920006,
  0.70331834,42.27662754,-0.95565942, 5.43481443]

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([ 6.45428908, -0.24015098,  6.44981977, -0.24015098, 32.13780609,
        0.95629368,  6.44981977,  0.95629368,  6.48989548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006026095744989246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60589688e-14, -1.38176907e-13,  1.00000000e+00,  6.36428583e-27,
        1.00000000e+00,  1.38176907e-13, -1.00000000e+00,  0.00000000e+00,
        4.60589688e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244522, -0.04722754,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.18141780e-04, 1.23818666e-04,-4.90525797e+00,-7.16752399e-03,
 -1.25167401e-03, 9.22510350e-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,
  9.50742669e-02,-6.98814326e-02, 1.30400735e-01, 9.96310775e-01,
 -4.84658799e-04,-3.41989031e-04,-8.58165968e-02]

qacc:
[ -2.58632397,  0.3507764 , -3.48413964, 12.56966056,  3.75566666,
  -1.67970691,  5.37783362, -5.90829995, -8.56276144,  2.26199042,
  -8.65219707, 15.18501315, -1.0924898 ,  1.17113363,  5.14414967,
 -21.35026027, -0.36543413, -2.85983224,  0.51310841, 40.45551766,
   8.50379913,  3.0574578 ]

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([  6.54837093,  -3.72887177,  -5.3829989 ,  -3.72887177,
        21.17118425, -10.1294087 ,  -5.3829989 , -10.1294087 ,
        13.56514111,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006138909151056776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26062766e-14, -4.52125531e-14,  1.00000000e+00, -1.02208748e-27,
        1.00000000e+00,  4.52125531e-14, -1.00000000e+00,  0.00000000e+00,
       -2.26062766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09751283, -0.0466045 ,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.24493074e-05, 9.86565981e-05,-4.90515551e+00,-7.15828171e-03,
 -1.23539543e-03, 8.16434174e-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,
  9.50585372e-02,-6.98780175e-02, 1.30400132e-01, 9.96298210e-01,
 -4.90085704e-04,-4.55071481e-04,-8.59617893e-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, -0.34763238, -2.78585895,  0.26129467, 39.68498414,
   7.20473231,  2.35829531]

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([ 6.59491491, -0.73166226, -6.5542027 , -0.73166226, 31.63790495,
       -2.79561246, -6.5542027 , -2.79561246,  6.90699622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006194810379439308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.48045605e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.48045605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09752073, -0.04660567,  0.06198086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.73161568e-05, 7.68445592e-05,-4.90508141e+00,-7.15446095e-03,
 -1.22145795e-03, 6.69000290e-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,
  9.50416954e-02,-6.98853811e-02, 1.30399816e-01, 9.96285939e-01,
 -4.17835984e-04,-5.61037030e-04,-8.61036522e-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, -0.27804809, -2.69468   ,  0.07147657, 38.38947981,
   6.88313898,  1.65534121]

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([ 6.60102093, -1.30287529, -6.4711663 , -1.30287529, 38.55244707,
       -6.43295532, -6.4711663 , -6.43295532,  7.896203  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006202149779022398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.17096356e-07,  7.17096356e-07,  1.00000000e+00, -5.14227183e-13,
        1.00000000e+00, -7.17096356e-07, -1.00000000e+00,  0.00000000e+00,
        7.17096356e-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([ 0.09711089, -0.04690969,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.76074726e-06, 6.72287724e-05,-4.90505241e+00,-7.15536384e-03,
 -1.20899222e-03, 5.88527814e-06]


--- 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,
  9.50308571e-02,-6.98993453e-02, 1.30401149e-01, 9.96273596e-01,
 -3.08034277e-04,-6.15604412e-04,-8.62464325e-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,  1.50091848, -1.65014238,  0.41226874, 16.49320185,
  27.22048962, -0.45980043]

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([  6.60435594,  -4.54188911,  -4.79465961,  -4.54188911,
        20.57031682, -13.22968694,  -4.79465961, -13.22968694,
        19.1365847 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006206159063284894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47226301e-14, -4.47226301e-14,  1.00000000e+00, -2.00011364e-27,
        1.00000000e+00,  4.47226301e-14, -1.00000000e+00,  0.00000000e+00,
       -4.47226301e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08444307, -0.05617177,  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:
[-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,
 -2.27615914e-05, 6.79429267e-05,-4.90506347e+00,-7.16091013e-03,
 -1.19786279e-03, 5.65076008e-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,
  9.50259178e-02,-6.99197609e-02, 1.30403366e-01, 9.96261132e-01,
 -1.60416734e-04,-6.20231419e-04,-8.63906585e-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,  1.47470656, -1.61287091,  0.22089735, 16.68340599,
  26.50806413, -0.72943019]

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([ 6.58050339,  4.48154274, -4.81858896,  4.48154274, 41.32858615,
       32.31755592, -4.81858896, 32.31755592, 36.63754072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006177493452861754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49301579e-14, -8.98603158e-14,  1.00000000e+00, -4.03743817e-27,
        1.00000000e+00,  8.98603158e-14, -1.00000000e+00,  0.00000000e+00,
       -4.49301579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08444443, -0.05616782,  0.06198092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.20304741e-05, 5.21030575e-05,-4.90505399e+00,-7.16956363e-03,
 -1.19285512e-03, 7.30469484e-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,
  9.50267891e-02,-6.99465067e-02, 1.30405810e-01, 9.96248493e-01,
  2.52001547e-05,-5.76106204e-04,-8.65367400e-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,
  1.45268510e+00,-1.58254189e+00, 5.69740412e-02, 1.68221783e+01,
  2.59264613e+01,-9.39649290e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006118362480937306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26821929e-14, -1.36093157e-13,  1.00000000e+00,  3.08689125e-27,
        1.00000000e+00,  1.36093157e-13, -1.00000000e+00,  0.00000000e+00,
        2.26821929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08444487, -0.05616396,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.46475512e-05, 3.94263877e-05,-4.90507032e+00,-7.18026525e-03,
 -1.19101825e-03, 9.13380338e-06]


--- 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,
  9.50333982e-02,-6.99794853e-02, 1.30407922e-01, 9.96235623e-01,
  2.48949291e-04,-4.84189285e-04,-8.66849925e-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,  1.43443386, -1.55817857, -0.08296488, 16.92610607,
  25.45603298, -1.10308146]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006035514266078124
  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([ 0.0844446 , -0.05616019,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.06460554e-05, 2.95968156e-05,-4.90511118e+00,-7.19305298e-03,
 -1.19227232e-03, 1.11440296e-05]


--- 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,
  9.50456510e-02,-7.00185495e-02, 1.30409281e-01, 9.96222462e-01,
  5.10495013e-04,-3.45625191e-04,-8.68356258e-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, 1.41094198,-1.52141732,
 -0.18853215,16.8048083 ,24.87362116,-1.2134214 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00059346263790576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16236323e-06,  1.16236313e-06,  1.00000000e+00, -1.35108816e-12,
        1.00000000e+00, -1.16236313e-06, -1.00000000e+00,  2.01948392e-28,
        1.16236323e-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([ 0.08452445, -0.0563137 ,  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:
[ 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,
 -1.20059357e-04, 2.23966188e-05,-4.90517562e+00,-7.20795429e-03,
 -1.19655371e-03, 1.33399008e-05]


--- 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,
  9.50529349e-02,-7.00440507e-02, 1.30411541e-01, 9.96209299e-01,
  6.84217912e-04,-2.68263402e-04,-8.69855827e-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,
 -1.24225461e+00, 3.39073035e+00, 2.25455568e-01,-4.10881489e+01,
 -3.42984590e+01, 3.67666376e-01]

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([ 6.49155665,  2.94252678, -5.78634979,  2.94252678, 28.42332168,
       11.15293895, -5.78634979, 11.15293895, 12.16314975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006070760250539708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.82880394e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.82880394e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1043468 , -0.09496683,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.52567765e-04, 1.76583311e-05,-4.90526190e+00,-7.22494964e-03,
 -1.20381931e-03, 1.56887309e-05]


--- 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,
  9.50553300e-02,-7.00563808e-02, 1.30413675e-01, 9.96196038e-01,
  7.71589655e-04,-2.48393396e-04,-8.71366555e-02]

qacc:
[-4.43034841e+00, 4.48683717e-01,-2.11962502e+00, 4.08298226e+00,
 -2.97415034e+00, 2.89540191e+00,-1.27231175e+01, 2.59761614e+01,
  1.93549945e+00,-1.46513462e+00, 6.77730604e+00,-1.45638603e+01,
 -2.55441020e-01,-3.42269879e-01,-4.20037188e+00, 1.26343605e+01,
 -1.22218470e+00, 3.29281141e+00,-3.15985679e-02,-4.05115504e+01,
 -3.23929727e+01,-5.28930054e-01]

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([ 6.55794135, -1.17364565,  6.45206561, -1.17364565, 24.50317228,
        3.264279  ,  6.45206561,  3.264279  ,  7.15172124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006150397664243523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.80512397e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.80512397e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10433695, -0.09496727,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.31267398e-05, 1.17467166e-05,-4.90510649e+00,-7.23292975e-03,
 -1.21534030e-03, 8.62225360e-06]


--- 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,
  9.50529079e-02,-7.00558706e-02, 1.30414791e-01, 9.96182582e-01,
  7.73919146e-04,-2.83013574e-04,-8.72902302e-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, -1.20430693,  3.21006252, -0.25445095,-39.98556649,
 -30.8475912 , -1.22310315]

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([ 6.5793251 , -0.93916857,  6.51194911, -0.93916857, 30.9611614 ,
        3.51640561,  6.51194911,  3.51640561,  7.08646937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006176077958905124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79761822e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79761822e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10432974, -0.09496922,  0.06198092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.29676783e-05, 1.72433137e-05,-4.90502377e+00,-7.23607638e-03,
 -1.22265691e-03, 5.17077306e-06]


--- 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,
  9.50457310e-02,-7.00427978e-02, 1.30414119e-01, 9.96168831e-01,
  6.92349887e-04,-3.69702504e-04,-8.74473739e-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, -1.18868097,  3.14063454, -0.44694124,-39.51708169,
 -29.5981851 , -1.75845595]

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([ 6.56437141, -0.63108182,  6.5339657 , -0.63108182, 39.38312938,
        3.16979341,  6.5339657 ,  3.16979341,  6.8705253 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006158118071648289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01430447e-14, -9.01430447e-14,  1.00000000e+00,  8.12576850e-27,
        1.00000000e+00,  9.01430447e-14, -1.00000000e+00,  0.00000000e+00,
        9.01430447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10432463, -0.0949724 ,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.25002705e-07, 3.45156074e-05,-4.90500774e+00,-7.23436045e-03,
 -1.22617092e-03, 5.00049010e-06]


--- 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,
  9.50338531e-02,-7.00173937e-02, 1.30410996e-01, 9.96154679e-01,
  5.27863454e-04,-5.06514264e-04,-8.76089027e-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, -1.17526633,  3.08282765, -0.61281268,-39.10886971,
 -28.59243789, -2.16906408]

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([ 6.52037762, -0.24225582,  6.51587572, -0.24225582, 50.03881776,
        1.61798597,  6.51587572,  1.61798597,  6.58053323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000610532082931256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.09225785e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.09225785e-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([ 0.10432116, -0.09497655,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.89031682e-05, 6.36615149e-05,-4.90505379e+00,-7.22777497e-03,
 -1.22618599e-03, 7.85475772e-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,
  9.50173193e-02,-6.99798492e-02, 1.30404850e-01, 9.96140008e-01,
  2.81286528e-04,-6.91893509e-04,-8.77754355e-02]

qacc:
[-1.15701965e+00, 7.52328264e-01,-5.16266030e+00, 1.37226756e+01,
  1.57334490e+00, 2.28667103e-02,-3.45606628e+00, 1.44106723e+01,
  7.31390821e-01,-1.47613868e+00, 5.02724963e+00,-6.16783009e+00,
 -6.82957948e-01, 5.78985639e-01, 3.81923336e-01,-4.98146346e+00,
 -1.16396346e+00, 3.03511574e+00,-7.55572560e-01,-3.87610733e+01,
 -2.77877463e+01,-2.48155754e+00]

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([ 6.45350538,  0.23262033,  6.44931155,  0.23262033, 62.90191879,
       -2.03603882,  6.44931155, -2.03603882,  6.5269433 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006025156746498617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.84264588e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.84264588e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104319  , -0.09498148,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.38321711e-05, 1.04613073e-04,-4.90515845e+00,-7.21632523e-03,
 -1.22293088e-03, 1.35385573e-05]


--- 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,
  9.50076342e-02,-6.99463099e-02, 1.30403012e-01, 9.96125520e-01,
  5.03678634e-05,-8.12574697e-04,-8.79390989e-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,
  1.71216987e+00,-1.00130133e+00, 1.07667583e+00, 4.96042703e+00,
  3.29118351e+01, 1.42277747e+00]

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([ 6.43794111, -3.26352655,  5.54945765, -3.26352655, 27.57589796,
       12.43081536,  5.54945765, 12.43081536, 13.74825835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006006509814744613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24183144e-14, -1.42038539e-07,  1.00000000e+00,  1.31269624e-20,
        1.00000000e+00,  1.42038539e-07, -1.00000000e+00, -1.50463277e-36,
        9.24183144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08329921, -0.06185866,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.06222588e-04, 1.57200730e-04,-4.90531916e+00,-7.20002256e-03,
 -1.21657699e-03, 2.19060529e-05]


--- 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,
  9.50039624e-02,-6.99196592e-02, 1.30404339e-01, 9.96111109e-01,
 -1.41168625e-04,-8.72478618e-04,-8.81015143e-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, 1.50331228,-1.72215081,
  0.79154673,16.94295251,32.00257317, 0.6074093 ]

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([ 6.52645923,  6.37003057, -1.42034528,  6.37003057,  8.94777152,
       10.85921394, -1.42034528, 10.85921394, 55.22836691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006112616144852007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54070319e-14,  9.08140638e-14,  1.00000000e+00, -4.12359709e-27,
        1.00000000e+00, -9.08140638e-14, -1.00000000e+00,  0.00000000e+00,
        4.54070319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08449811, -0.05613103,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.06671282e-04, 1.14480014e-04,-4.90522549e+00,-7.18891109e-03,
 -1.20688879e-03, 1.92558199e-05]


--- 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,
  9.50062076e-02,-6.98996977e-02, 1.30407876e-01, 9.96096718e-01,
 -2.93399871e-04,-8.74956103e-04,-8.82636723e-02]

qacc:
[ 1.72136757, 0.40022075,-2.71506449, 7.5039693 , 2.13811592, 0.77827217,
 -3.21338359, 5.60708214,10.24064606, 1.6463747 ,-5.84253231, 7.51978015,
 -0.38131667,-0.11637721,-9.14460066,28.55993788, 1.47927026,-1.67230358,
  0.55229632,17.04663026,30.33297196, 0.11597231]

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([ 6.5684165 ,  1.87224865, -6.29593363,  1.87224865, 31.78525647,
        7.49883933, -6.29593363,  7.49883933,  8.79837835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006162975598422299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57625993e-13, -9.00719958e-14,  1.00000000e+00, -1.41976878e-26,
        1.00000000e+00,  9.00719958e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57625993e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08450562, -0.05612872,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.44420672e-05, 7.01187589e-05,-4.90513178e+00,-7.17976413e-03,
 -1.19949346e-03, 1.58041062e-05]


--- 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,
  9.50142864e-02,-6.98862577e-02, 1.30412794e-01, 9.96082296e-01,
 -4.06456760e-04,-8.22712852e-04,-8.84263409e-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, 1.45837931,-1.63038634,
  0.34523111,17.09556977,28.98247041,-0.26483059]

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([ 6.57216296,  1.69570472, -6.34963869,  1.69570472, 40.14099131,
        8.9647338 , -6.34963869,  8.9647338 ,  8.96624271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006167475025982277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25015711e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.25015711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08451093, -0.05612618,  0.06198095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.90983986e-05, 3.11657413e-05,-4.90507157e+00,-7.17258372e-03,
 -1.19591166e-03, 1.27878227e-05]


--- 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,
  9.50281274e-02,-6.98791993e-02, 1.30418379e-01, 9.96067792e-01,
 -4.80496596e-04,-7.17926268e-04,-8.85901130e-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,  1.44057846, -1.59538549,  0.16693671, 17.10852001,
  27.89400047, -0.55853232]

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([ 6.54521546,  1.46129628, -6.3800046 ,  1.46129628, 50.95268075,
       10.17122526, -6.3800046 , 10.17122526,  8.87486483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006135121886647193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26202316e-14,  4.52404632e-14,  1.00000000e+00, -1.02334976e-27,
        1.00000000e+00, -4.52404632e-14, -1.00000000e+00,  0.00000000e+00,
        2.26202316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0845145 , -0.05612345,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.05903039e-05,-3.34130503e-06,-4.90504126e+00,-7.16743133e-03,
 -1.19592865e-03, 1.01476753e-05]


--- 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,
  9.50476714e-02,-6.98784065e-02, 1.30424021e-01, 9.96053156e-01,
 -5.15683615e-04,-5.62340196e-04,-8.87554432e-02]

qacc:
[-1.10991634e+01, 4.51761994e-01, 3.44760228e-01,-5.45228237e+00,
  4.41971895e-01, 3.79085431e-01, 5.28682800e-01,-6.53441276e+00,
 -4.71158090e+00, 5.59768135e-01,-7.50748325e-01,-2.74763647e+00,
 -1.11516494e+00, 1.48744127e+00,-3.94145618e+00, 8.28868979e+00,
  1.42573051e+00,-1.56639707e+00, 1.40793348e-02, 1.70992630e+01,
  2.70211822e+01,-7.83593073e-01]

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([ 6.49394012,  1.16453765, -6.38867047,  1.16453765, 64.65767944,
       10.60218472, -6.38867047, 10.60218472,  8.42652428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006073617685775357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13971773e-14, -9.13971773e-14,  1.00000000e+00, -8.35344401e-27,
        1.00000000e+00,  9.13971773e-14, -1.00000000e+00,  0.00000000e+00,
       -9.13971773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08451669, -0.05612057,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.88824324e-05,-3.41037040e-05,-4.90503819e+00,-7.16434770e-03,
 -1.19937443e-03, 7.83557315e-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,
  9.50728700e-02,-6.98837841e-02, 1.30429197e-01, 9.96038336e-01,
 -5.12175344e-04,-3.57341665e-04,-8.89226774e-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 ,  1.41365777, -1.54262712, -0.11647438, 17.07788797,
  26.3263659 , -0.95449297]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005989511789231822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31701486e-14, -4.63402972e-14,  1.00000000e+00, -1.07371157e-27,
        1.00000000e+00,  4.63402972e-14, -1.00000000e+00,  0.00000000e+00,
       -2.31701486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0845178 , -0.05611757,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.39439207e-05,-6.16322481e-05,-4.90506041e+00,-7.16335928e-03,
 -1.20611515e-03, 5.81356049e-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,
  9.50967708e-02,-6.98994313e-02, 1.30432946e-01, 9.96023763e-01,
 -4.28333381e-04,-1.47929970e-04,-8.90867969e-02]

qacc:
[-9.58344152e-01,-1.22342536e+00, 5.94470099e+00,-1.33985714e+01,
  2.04137459e+00,-5.35784620e-01, 2.10860778e+00,-2.79834322e+00,
 -1.75436676e+00, 8.83840445e-01,-4.00298913e+00, 9.41713886e+00,
 -2.96022547e-01,-2.38663982e-01,-5.92955778e-01,-3.09015795e-02,
 -3.24458670e-01,-2.56736449e+00,-3.56775024e-01, 3.98121236e+01,
  5.76883082e+00, 1.54891463e+00]

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([ 6.36779924,  5.55007357,  3.12178642,  5.55007357, 11.42120113,
       -8.98419959,  3.12178642, -8.98419959, 22.34037453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005922502255490125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68646096e-14, -4.68646096e-14,  1.00000000e+00, -2.19629163e-27,
        1.00000000e+00,  4.68646096e-14, -1.00000000e+00,  0.00000000e+00,
       -4.68646096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09766751, -0.04661829,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.42588237e-05,-8.62959272e-05,-4.90510653e+00,-7.16448274e-03,
 -1.21604611e-03, 4.05254422e-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,
  9.51193570e-02,-6.99252431e-02, 1.30434790e-01, 9.96009363e-01,
 -2.65868132e-04, 6.41854399e-05,-8.92483835e-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, -0.32865073, -2.54118234, -0.47610749, 39.03512236,
   4.84810112,  1.26384852]

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([  6.30510625,  -4.53667709,  -4.37868997,  -4.53667709,
        27.85503881, -22.3274737 ,  -4.37868997, -22.3274737 ,
        29.4381755 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005847420510546916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.32452836e-07,  5.32452626e-07,  1.00000000e+00,  2.83505911e-13,
        1.00000000e+00, -5.32452626e-07, -1.00000000e+00,  0.00000000e+00,
       -5.32452836e-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([ 0.09779998, -0.04663542,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.76758681e-05,-7.63271984e-05,-4.90513504e+00,-7.16877048e-03,
 -1.22321011e-03, 5.40922993e-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,
  9.51382211e-02,-6.99608068e-02, 1.30434551e-01, 9.95995351e-01,
 -2.50217201e-05, 2.58710911e-04,-8.94046561e-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 ,-0.93052437,-2.43795499,
 -0.52084739,39.81900567,-5.26289441, 2.6639184 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005772094443952241
  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([ 0.10261475, -0.04728097,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.18118913e-04,-5.66645725e-05,-4.90520023e+00,-7.17780159e-03,
 -1.23131024e-03, 7.07887958e-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,
  9.51522972e-02,-6.99828853e-02, 1.30434983e-01, 9.95981363e-01,
  1.26647545e-04, 3.90890620e-04,-8.95597937e-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, -1.19699879,  3.37130222,  0.16772324,-41.6231592 ,
 -35.03448936,  0.55391236]

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([ 6.17894693, -0.32062687, -6.17062263, -0.32062687, 39.28989092,
       -1.72045174, -6.17062263, -1.72045174,  6.26834197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005696188043396722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87265789e-14, -4.87265789e-14,  1.00000000e+00,  2.37427949e-27,
        1.00000000e+00,  4.87265789e-14, -1.00000000e+00,  0.00000000e+00,
        4.87265789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10422676, -0.09503764,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.59441289e-04,-1.75555423e-05,-4.90528055e+00,-7.19087793e-03,
 -1.23918234e-03, 8.36049746e-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,
  9.51616490e-02,-6.99918335e-02, 1.30435130e-01, 9.95967285e-01,
  1.90762197e-04, 4.64760423e-04,-8.97157418e-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,
 -1.18107810e+00, 3.28256323e+00,-7.11363186e-02,-4.09901066e+01,
 -3.29585104e+01,-4.20945704e-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([ 6.26210425, -0.33425351,  6.25317713, -0.33425351, 23.98227943,
        0.94720341,  6.25317713,  0.94720341,  6.31273548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005795902938575959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57765370e-14, -1.91553074e-13,  1.00000000e+00,  1.83462901e-26,
        1.00000000e+00,  1.91553074e-13, -1.00000000e+00,  0.00000000e+00,
        9.57765370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10421546, -0.09503617,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.38056753e-05,-2.00234640e-05,-4.90511321e+00,-7.19701087e-03,
 -1.25429147e-03,-3.41808727e-07]


--- 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,
  9.51663353e-02,-6.99879535e-02, 1.30434158e-01, 9.95953011e-01,
  1.68748943e-04, 4.83581428e-04,-8.98740088e-02]

qacc:
[  8.4406113 , -2.96870305, 13.00127911,-24.89567358,  1.85260896,
  -1.03876549,  2.99621284, -0.708979  , -2.07834268,  3.14212362,
 -10.11469025, 10.41854928, -1.26546423,  1.57506504,  7.54274546,
 -28.21468827, -1.16635881,  3.20705054, -0.27969357,-40.420359  ,
 -31.27709154, -1.1784294 ]

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([ 6.30095163, -0.12759026,  6.29965968, -0.12759026, 29.72382292,
        0.4743955 ,  6.29965968,  0.4743955 ,  6.3105598 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005842444060238094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90027155e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90027155e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10420703, -0.09503641,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.80605979e-05,-1.14144644e-05,-4.90502206e+00,-7.19830125e-03,
 -1.26510350e-03,-5.31969528e-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,
  9.51664093e-02,-6.99715003e-02, 1.30431343e-01, 9.95938430e-01,
  6.18430881e-05, 4.49982953e-04,-9.00357609e-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, -1.15309439,  3.14331924, -0.46101789,-39.91807801,
 -29.91870857, -1.76538507]

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([ 6.30364926,  0.13700696,  6.3021602 ,  0.13700696, 36.99216302,
       -0.66715854,  6.3021602 , -0.66715854,  6.31815308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005845675332902533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.49610577e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.49610577e-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([ 0.10420087, -0.09503804,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.05417933e-05, 8.75783242e-06,-4.90500020e+00,-7.19470886e-03,
 -1.27205406e-03,-6.93751607e-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,
  9.51619176e-02,-6.99426871e-02, 1.30426054e-01, 9.95923425e-01,
 -1.28902484e-04, 3.66078341e-04,-9.02018949e-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 , -1.14140042,  3.08999253, -0.6182269 ,-39.48392445,
 -28.82523409, -2.21844335]

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([ 6.27724556,  0.46446375,  6.26003876,  0.46446375, 45.90530924,
       -2.94020527,  6.26003876, -2.94020527,  6.49539417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005814045256305328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.54776731e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.54776731e-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([ 0.1041965 , -0.09504081,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.40173106e-05, 4.06743660e-05,-4.90504242e+00,-7.18621900e-03,
 -1.27547247e-03,-5.47421329e-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,
  9.51530689e-02,-6.99248534e-02, 1.30422676e-01, 9.95909317e-01,
 -2.37738056e-04, 2.72708081e-04,-9.03576275e-02]

qacc:
[ -4.36623006,  3.51163024,-14.52952589, 26.21011557, -0.77906855,
   3.73560398,-14.56813312, 23.50736187, 11.13581366,  0.32166927,
   0.13879568, -3.66998006, -0.71589799,  0.53528075, -3.47694131,
   9.38500731, -1.08928339, -2.74489321,  0.47762992, 41.21310852,
  -1.02014684,  5.23443308]

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([ 6.28928963, -0.13695948,  6.28779819, -0.13695948, 29.22344127,
        0.49954679,  6.28779819,  0.49954679,  6.30017065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005828474297534525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52413074e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52413074e-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([ 0.10266056, -0.04729228,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.38471543e-05, 8.43264504e-05,-4.90514479e+00,-7.17283155e-03,
 -1.27560711e-03,-1.14114037e-06]


--- 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,
  9.51400126e-02,-6.99177278e-02, 1.30420230e-01, 9.95895984e-01,
 -2.66608532e-04, 1.67461756e-04,-9.05046376e-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, -1.05186732, -2.67700697,  0.23287246, 40.35444186,
  -2.30215569,  4.38783002]

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([ 6.35153196, -1.45692212, -6.18217892, -1.45692212, 27.9767036 ,
       -5.09629232, -6.18217892, -5.09629232,  7.55254881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005903021686904653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70192676e-14, -1.88077070e-13,  1.00000000e+00, -8.84324609e-27,
        1.00000000e+00,  1.88077070e-13, -1.00000000e+00,  0.00000000e+00,
       -4.70192676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10266931, -0.04729524,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.03222769e-05, 6.90382323e-05,-4.90507436e+00,-7.16691449e-03,
 -1.26240337e-03,-1.79147020e-06]


--- 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,
  9.51228719e-02,-6.99210792e-02, 1.30417865e-01, 9.95883311e-01,
 -2.17165553e-04, 4.84659808e-05,-9.06442560e-02]

qacc:
[-5.19679090e+00,-3.28885430e-01, 2.08644099e+00,-4.83501664e+00,
 -1.39100385e+00,-3.98950963e-02, 1.07036897e+00,-3.19645172e+00,
  1.21228623e+00,-1.30974757e+00, 4.19924542e+00,-3.24629450e+00,
 -8.74041696e-01, 7.73692448e-01,-2.53254827e+00, 6.73375252e+00,
 -1.02113010e+00,-2.61926385e+00, 2.04887789e-02, 3.96176914e+01,
 -3.30368620e+00, 3.71525782e+00]

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([ 6.37359085, -1.65814156, -6.15412275, -1.65814156, 34.56449863,
       -7.59564244, -6.15412275, -7.59564244,  8.42012956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005929437900303453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36195845e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.36195845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10267661, -0.04729645,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.50548535e-05, 6.45910381e-05,-4.90504865e+00,-7.16585465e-03,
 -1.24988284e-03,-2.25329270e-06]


--- 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,
  9.51017468e-02,-6.99347130e-02, 1.30414849e-01, 9.95871188e-01,
 -9.07980251e-05,-8.57378935e-05,-9.07775386e-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 , -0.99607597, -2.57058442, -0.16305034, 38.99310687,
  -4.08706347,  3.18001857]

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([  6.36303442,  -1.90986037,  -6.06964912,  -1.90986037,
        42.73861218, -11.4458469 ,  -6.06964912, -11.4458469 ,
         9.96455553,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005916796253040424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38196092e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.38196092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1026828 , -0.04729625,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.31468582e-05, 6.98475089e-05,-4.90506491e+00,-7.16959958e-03,
 -1.23770709e-03,-2.64435972e-06]


--- 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,
  9.50767183e-02,-6.99584665e-02, 1.30410547e-01, 9.95859505e-01,
  1.11339344e-04,-2.36289073e-04,-9.09053242e-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,
 -9.75850822e-01,-2.52994142e+00,-3.21184750e-01, 3.84707417e+01,
 -4.70103624e+00, 2.75312662e+00]

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([  6.32636622,  -2.22278155,  -5.9230188 ,  -2.22278155,
        52.44597689, -17.30769784,  -5.9230188 , -17.30769784,
        12.82157293,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005872883718895799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89042228e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89042228e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1026881 , -0.04729493,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.51620420e-05, 8.40071615e-05,-4.90512099e+00,-7.17809797e-03,
 -1.22562122e-03,-3.04504369e-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,
  9.50472538e-02,-6.99697308e-02, 1.30406637e-01, 9.95847529e-01,
  2.26762447e-04,-4.40735981e-04,-9.10354548e-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, -1.10901   ,  3.12232154,  0.09793521,-40.72817016,
 -30.77784658, -1.16769765]

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([ 6.34030687, -0.15404658, -6.3384352 , -0.15404658, 43.39994394,
       -0.90068132, -6.3384352 , -0.90068132,  6.36219664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000588957903886829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.77435467e-07, -5.77435414e-07,  1.00000000e+00,  3.33431688e-13,
        1.00000000e+00,  5.77435414e-07, -1.00000000e+00,  5.04870979e-29,
        5.77435467e-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([ 0.1033692, -0.0934762,  0.0619818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.16321187e-05, 1.06522136e-04,-4.90521526e+00,-7.19130254e-03,
 -1.21343284e-03,-3.50998866e-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,
  9.50133973e-02,-6.99687813e-02, 1.30402252e-01, 9.95835170e-01,
  2.57442042e-04,-6.96263807e-04,-9.11688698e-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, -1.09799332,  3.05343601, -0.11897905,-39.87139981,
 -29.29219216, -1.62832529]

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([ 6.38121339,  1.4975065 ,  6.20301205,  1.4975065 , 32.75031926,
       -6.36592468,  6.20301205, -6.36592468,  7.91804961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005938566216849381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43495174e-07,  4.43495128e-07,  1.00000000e+00,  1.96687949e-13,
        1.00000000e+00, -4.43495128e-07, -1.00000000e+00, -2.52435490e-29,
       -4.43495174e-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([ 0.1033624 , -0.09347482,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.34565710e-05, 1.07680625e-04,-4.90519371e+00,-7.19778313e-03,
 -1.20616289e-03, 3.10498958e-07]


--- 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,
  9.49855858e-02,-6.99747733e-02, 1.30400842e-01, 9.95822778e-01,
  3.26945469e-04,-8.95793510e-04,-9.13021649e-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,  1.51122545, -1.73537256,  0.74401917, 16.77847159,
  29.65221732,  0.03738843]

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([ 6.46447842, -2.45924231,  5.9784286 , -2.45924231, 29.64214435,
        9.53419377,  5.9784286 ,  9.53419377, 10.38639407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006038305135399602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59658381e-14, -1.83863352e-13,  1.00000000e+00,  8.45143308e-27,
        1.00000000e+00,  1.83863352e-13, -1.00000000e+00,  0.00000000e+00,
        4.59658381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08457923, -0.05605418,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.71024399e-07, 1.21663544e-04,-4.90523353e+00,-7.19932219e-03,
 -1.19533351e-03, 7.17854506e-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,
  9.49652650e-02,-6.99817282e-02, 1.30402679e-01, 9.95810641e-01,
  3.92083672e-04,-1.03901767e-03,-9.14326778e-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,  1.87270524, -0.24072701,  0.81147947, -4.74269927,
  27.83646512,  1.38976078]

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([ 6.51511429,  0.15897419, -6.51317445,  0.15897419, 29.08494222,
        0.55088655, -6.51317445,  0.55088655,  6.52856039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006099007869483364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55083453e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.55083453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217572, -0.06725378,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27916974e-05, 1.01597548e-04,-4.90516047e+00,-7.20632518e-03,
 -1.18141433e-03, 9.28632133e-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,
  9.49536571e-02,-6.99819748e-02, 1.30405701e-01, 9.95799436e-01,
  3.98200185e-04,-1.12654117e-03,-9.15535648e-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,  2.17820486,  1.67707095,  0.29657549,-31.92882626,
  25.03776945,  4.85513119]

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([ 6.54180556,  0.31614896, -6.53416175,  0.31614896, 23.65767611,
        0.82813449, -6.53416175,  0.82813449,  6.58187403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006131029569064056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05413204e-14, -9.05413204e-14,  1.00000000e+00,  8.19773069e-27,
        1.00000000e+00,  9.05413204e-14, -1.00000000e+00,  0.00000000e+00,
        9.05413204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07921276, -0.08225044,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.49868409e-05, 7.60387325e-05,-4.90509211e+00,-7.21270819e-03,
 -1.17363435e-03, 1.29394783e-05]


--- 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,
  9.49505691e-02,-6.99756156e-02, 1.30409101e-01, 9.95789102e-01,
  3.47342119e-04,-1.15880677e-03,-9.16656990e-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,  2.13000306,  1.6514368 ,  0.09431563,-30.89239826,
  24.90701013,  4.41891456]

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([  6.5394823 ,   6.25043964,   1.92271505,   6.25043964,
        10.75776006, -13.7129475 ,   1.92271505, -13.7129475 ,
        51.11808528,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000612824156672645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05825115e-14, -9.05825115e-14,  1.00000000e+00,  8.20519139e-27,
        1.00000000e+00,  9.05825115e-14, -1.00000000e+00,  0.00000000e+00,
        9.05825115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07921009, -0.08224717,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.34737262e-07, 4.44078560e-05,-4.90503208e+00,-7.21507213e-03,
 -1.17216519e-03, 1.65375075e-05]


--- 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,
  9.49558403e-02,-6.99627383e-02, 1.30412182e-01, 9.95779573e-01,
  2.41172952e-04,-1.13622586e-03,-9.17697764e-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,  2.08977675,  1.62955718, -0.07969356,-30.04833966,
  24.77458167,  4.07090302]

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([  6.50735851,   6.3272397 ,   1.52044489,   6.3272397 ,
         9.94861919, -14.32059874,   1.52044489, -14.32059874,
        66.10166646,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006089706634807013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55778534e-14, -9.11557068e-14,  1.00000000e+00,  4.15468144e-27,
        1.00000000e+00,  9.11557068e-14, -1.00000000e+00,  0.00000000e+00,
        4.55778534e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07920705, -0.08224541,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.80457443e-05, 2.12670267e-05,-4.90501374e+00,-7.21345344e-03,
 -1.17315314e-03, 1.76516744e-05]


--- 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,
  9.49682305e-02,-6.99506586e-02, 1.30416565e-01, 9.95770195e-01,
  1.33963016e-04,-1.05901843e-03,-9.18726208e-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, 1.77974843,-0.19942374,
  0.32526504,-3.02403828,27.15046736, 0.61484797]

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([  6.47527106,   3.12795717,   5.66965777,   3.12795717,
        51.59488439, -24.89254626,   5.66965777, -24.89254626,
        20.20851949,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006051239255842056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17351783e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17351783e-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([ 0.08217924, -0.06724427,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.66882454e-05, 5.58969753e-06,-4.90503458e+00,-7.20798226e-03,
 -1.17668757e-03, 1.63795851e-05]


--- 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,
  9.49863080e-02,-6.99449337e-02, 1.30421393e-01, 9.95760642e-01,
  6.76954028e-05,-9.30377464e-04,-9.19775668e-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, 1.42182238,-1.58868823,
  0.11146091,18.02080455,27.48849581,-1.07956845]

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([  6.44275193,   2.62472055,   5.88386731,   2.62472055,
        49.09596363, -19.02707101,   5.88386731, -19.02707101,
        14.93049334,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006012273135584806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30824307e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.30824307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460117, -0.05604212,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.90265981e-05,-1.26886754e-05,-4.90504823e+00,-7.20220550e-03,
 -1.18105708e-03, 1.35974392e-05]


--- 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,
  9.50100185e-02,-6.99454669e-02, 1.30426097e-01, 9.95750877e-01,
  4.18784822e-05,-7.51851174e-04,-9.20848748e-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,  1.4082743 , -1.56452959, -0.03091543, 17.84434709,
  26.69702036, -1.20621978]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005951047136928678
  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([ 0.08460282, -0.05604042,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.37429700e-05,-3.38660255e-05,-4.90505528e+00,-7.19874427e-03,
 -1.18689983e-03, 1.12721320e-05]


--- 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,
  9.50393187e-02,-6.99521787e-02, 1.30430191e-01, 9.95740856e-01,
  5.60997304e-05,-5.24667988e-04,-9.21947367e-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 ,  1.39740074, -1.5446499 , -0.15269973, 17.69278418,
  26.06837925, -1.29936973]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000586878163202964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.09403860e-14, -1.41880772e-13,  1.00000000e+00, -1.00650767e-26,
        1.00000000e+00,  1.41880772e-13, -1.00000000e+00,  0.00000000e+00,
       -7.09403860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460354, -0.05603838,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.99118831e-06,-5.22245158e-05,-4.90508773e+00,-7.19751401e-03,
 -1.19597258e-03, 9.26569430e-06]


--- 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,
  9.50741749e-02,-6.99650047e-02, 1.30433258e-01, 9.95730531e-01,
  1.10019573e-04,-2.49791355e-04,-9.23072905e-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,  1.38900915, -1.52854364, -0.2565192 , 17.56551619,
  25.57500302, -1.36602029]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005770680936599271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80975745e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.80975745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460353, -0.05603609,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.72022410e-05,-6.80182911e-05,-4.90514418e+00,-7.19850456e-03,
 -1.20818462e-03, 7.54065065e-06]


--- 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,
  9.51047287e-02,-6.99654819e-02, 1.30435696e-01, 9.95719991e-01,
  8.35953665e-05,-2.58419990e-05,-9.24212735e-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, -1.07560417,  3.08719592, -0.15745476,-37.65019862,
 -29.06319897, -0.70859629]

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([ 6.14815819,  2.54929602, -5.5947242 ,  2.54929602, 29.83405801,
       10.79273401, -5.5947242 , 10.79273401, 11.06598307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005659225566870364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29632112e-07,  2.29632259e-07,  1.00000000e+00,  5.27309407e-14,
        1.00000000e+00, -2.29632259e-07, -1.00000000e+00,  6.31088724e-30,
       -2.29632112e-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([ 0.10330599, -0.09351695,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.28368610e-05,-8.14192797e-05,-4.90522365e+00,-7.20170549e-03,
 -1.22346596e-03, 6.07024755e-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,
  9.51306966e-02,-6.99532707e-02, 1.30436318e-01, 9.95709127e-01,
 -2.62204086e-05, 1.46066302e-04,-9.25381685e-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, -1.14646459,  3.17210059, -0.45373433,-39.11250027,
 -29.76286342, -1.46150592]

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([ 6.15949647, -0.68588207,  6.12118964, -0.68588207, 44.29743747,
        4.27337352,  6.12118964,  4.27337352,  6.63832991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005672840656086864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78542402e-14, -9.78542402e-14,  1.00000000e+00,  9.57545233e-27,
        1.00000000e+00,  9.78542402e-14, -1.00000000e+00,  0.00000000e+00,
        9.78542402e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10408167, -0.09508679,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.64768207e-06,-7.12159917e-05,-4.90514046e+00,-7.19738787e-03,
 -1.24111189e-03,-1.90987026e-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,
  9.51518610e-02,-6.99394690e-02, 1.30439551e-01, 9.95698250e-01,
 -1.40708717e-04, 2.83406308e-04,-9.26547055e-02]

qacc:
[  0.54100281, -0.46385117,  2.61800411, -6.90527283,  2.1636874 ,
   1.48775252, -7.88613308, 17.81603742, -5.05751332, -0.08481134,
  -0.18720586,  1.16920511, -0.80084886,  0.88727042, -4.89162037,
  13.81733052, -1.2008903 ,  0.39763024,  0.65249193, -0.72682501,
 -17.42618101,  0.17682647]

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([ 6.14284496, -0.30082801,  6.13547445, -0.30082801, 33.11330854,
        1.32238686,  6.13547445,  1.32238686,  6.20768281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005652844030422161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82003942e-14,  2.00174728e-07,  1.00000000e+00, -1.96572372e-20,
        1.00000000e+00, -2.00174728e-07, -1.00000000e+00,  0.00000000e+00,
        9.82003942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342118, -0.07113736,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.74937563e-05,-4.99228754e-05,-4.90511493e+00,-7.18822700e-03,
 -1.25543328e-03,-7.14494262e-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,
  9.51689645e-02,-6.99360068e-02, 1.30442643e-01, 9.95688002e-01,
 -1.75357776e-04, 4.05566590e-04,-9.27642586e-02]

qacc:
[ 2.01108632e-01,-9.88691894e-01, 5.58860896e+00,-1.42437902e+01,
  1.30554183e+00, 2.06964286e+00,-5.20352596e+00,-2.95019424e-01,
  6.20131713e+00,-1.23429744e+00, 5.08005638e+00,-1.02937642e+01,
 -9.93798433e-01, 1.27479225e+00,-7.62572000e+00, 2.40610079e+01,
 -1.01521812e+00,-2.58487387e+00,-3.53410704e-02, 4.04501920e+01,
 -3.85905241e+00, 3.51631277e+00]

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([ 6.17401066, -0.69019298,  6.13531102, -0.69019298, 26.38883479,
        2.27407048,  6.13531102,  2.27407048,  6.42983265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005690263797874934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87773091e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.87773091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277478, -0.04732451,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.86274343e-05,-3.62077195e-05,-4.90508768e+00,-7.17948658e-03,
 -1.26325853e-03,-8.27677242e-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,
  9.51821106e-02,-6.99427183e-02, 1.30444924e-01, 9.95678313e-01,
 -1.31899509e-04, 5.11465086e-04,-9.28677398e-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, -0.98933646, -2.54345472, -0.20257768, 39.63833788,
  -4.47369395,  3.06324952]

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([  6.17305814,  -3.48960971,  -5.09207923,  -3.48960971,
        36.40505942, -20.71803684,  -5.09207923, -20.71803684,
        20.37116056,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000568912055402146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46361333e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.46361333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277978, -0.04732586,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.04059587e-05,-3.37104581e-05,-4.90504044e+00,-7.17629038e-03,
 -1.26595394e-03,-7.39096438e-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,
  9.51913857e-02,-6.99594644e-02, 1.30445817e-01, 9.95669116e-01,
 -1.17622435e-05, 6.00277195e-04,-9.29658637e-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, -0.96776893, -2.5086176 , -0.34698522, 38.96585756,
  -4.94624887,  2.70831094]

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([  6.14687119,  -3.77134575,  -4.85396505,  -3.77134575,
        41.83441653, -27.72786183,  -4.85396505, -27.72786183,
        27.69036247,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005657679886190703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90582291e-14,  1.96232916e-13,  1.00000000e+00,  9.62683938e-27,
        1.00000000e+00, -1.96232916e-13, -1.00000000e+00,  0.00000000e+00,
       -4.90582291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10278412, -0.04732586,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.11427397e-05,-2.30192526e-05,-4.90503324e+00,-7.17799167e-03,
 -1.26872934e-03,-6.59293186e-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,
  9.51960270e-02,-6.99633351e-02, 1.30445746e-01, 9.95659566e-01,
  2.03303793e-05, 6.35578452e-04,-9.30678527e-02]

qacc:
[ -1.22193631,  1.52579764, -6.13426674, 10.55932669, -1.63097179,
   0.13689825, -1.16251033,  3.33399843, -1.20549667, -1.39982879,
   3.96617318, -2.93902857, -0.76884328,  0.86327996, -3.48126974,
   9.24957119, -1.1584307 ,  3.21883844, -0.24085416,-41.34316676,
 -30.73199613, -1.96728153]

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([ 6.1543194 , -0.33268848, -6.14532063, -0.33268848, 51.74801203,
       -2.46830026, -6.14532063, -2.46830026,  6.28794548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005666624486842103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79615843e-14, -9.79615843e-14,  1.00000000e+00,  9.59647200e-27,
        1.00000000e+00,  9.79615843e-14, -1.00000000e+00,  0.00000000e+00,
        9.79615843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10405436, -0.09509589,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.67957135e-05,-4.61647207e-06,-4.90506426e+00,-7.18451127e-03,
 -1.27141035e-03,-5.91612329e-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,
  9.51960947e-02,-6.99545810e-02, 1.30443985e-01, 9.95649595e-01,
 -3.40649266e-05, 6.19714927e-04,-9.31745627e-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, -1.14342111,  3.15620065, -0.4228689 ,-40.67386407,
 -29.49588954, -2.39679774]

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([ 6.17456109,  1.19481122,  6.05785695,  1.19481122, 41.52332657,
       -6.97195425,  6.05785695, -6.97195425,  7.54966275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005690924429844341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.75432936e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.75432936e-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([ 0.10404912, -0.09509576,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.20666024e-05,-1.62700578e-06,-4.90500465e+00,-7.18498054e-03,
 -1.27749279e-03,-8.92174273e-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,
  9.51916411e-02,-6.99334134e-02, 1.30439898e-01, 9.95639123e-01,
 -1.73631840e-04, 5.54582014e-04,-9.32866467e-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 , -1.13030464,  3.10337167, -0.58116947,-40.10355538,
 -28.49519008, -2.72584458]

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([  6.16409344,   1.53652203,   5.96951824,   1.53652203,
        50.05647669, -11.2976644 ,   5.96951824, -11.2976644 ,
         9.07205176,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005678359614722517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.77591329e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.77591329e-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([ 0.10404543, -0.09509704,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.83820066e-05, 1.44431527e-05,-4.90501100e+00,-7.18038686e-03,
 -1.28019733e-03,-8.81295624e-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,
  9.51829626e-02,-6.99229872e-02, 1.30436942e-01, 9.95629360e-01,
 -2.32762929e-04, 4.75186700e-04,-9.33910978e-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 , -1.05624171, -2.68534299,  0.28248987, 40.70571858,
  -3.34916722,  3.85386532]

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([ 6.20907616e+00, -1.00572914e-02,  6.20906801e+00, -1.00572914e-02,
        3.48751917e+01,  4.64326495e-02,  6.20906801e+00,  4.64326495e-02,
        6.20915137e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005732333771472781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93677317e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93677317e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10280539, -0.04733057,  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:
[-1.52051117e-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,
  4.57816568e-05, 4.32730372e-05,-4.90507900e+00,-7.17076643e-03,
 -1.27973380e-03,-5.80703693e-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,
  9.51701769e-02,-6.99230687e-02, 1.30434258e-01, 9.95620217e-01,
 -2.13170417e-04, 3.80134118e-04,-9.34889995e-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,
 -1.02679872e+00,-2.62692767e+00, 6.81009559e-02, 3.99194047e+01,
 -4.11928578e+00, 3.30627706e+00]

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([  6.24951942,  -1.99678919,  -5.921936  ,  -1.99678919,
        40.41236991, -11.51920767,  -5.921936  , -11.51920767,
        10.1336258 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005780821154943716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.60264117e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.60264117e-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([ 0.10281095, -0.04733242,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.83657941e-05, 3.55946279e-05,-4.90503658e+00,-7.16763113e-03,
 -1.27008683e-03,-6.12218513e-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,
  9.51533809e-02,-6.99334599e-02, 1.30431102e-01, 9.95611607e-01,
 -1.16300024e-04, 2.68346136e-04,-9.35812124e-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,-1.00257604,-2.5774265 ,
 -0.11789226,39.25097397,-4.71944332, 2.86970578]

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([  6.25548605,  -2.30675823,  -5.81463431,  -2.30675823,
        49.44687571, -17.13471357,  -5.81463431, -17.13471357,
        13.05310038,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005787971941023928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79538876e-14, -9.59077753e-14,  1.00000000e+00,  4.59915068e-27,
        1.00000000e+00,  9.59077753e-14, -1.00000000e+00,  0.00000000e+00,
        4.79538876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10281573, -0.04733279,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.32419575e-06, 3.70482843e-05,-4.90503661e+00,-7.16938222e-03,
 -1.26061000e-03,-6.41454669e-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,
  9.51326535e-02,-6.99539947e-02, 1.30426832e-01, 9.95603437e-01,
  5.66407005e-05, 1.38986419e-04,-9.36684214e-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, -0.98283451, -2.53588583, -0.27868299, 38.68979946,
  -5.18828456,  2.52078886]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005761759093951546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81720516e-14,  9.63441031e-14,  1.00000000e+00, -4.64109310e-27,
        1.00000000e+00, -9.63441031e-14, -1.00000000e+00,  0.00000000e+00,
        4.81720516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1028199 , -0.04733199,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.70667921e-05, 4.69730718e-05,-4.90507688e+00,-7.17595152e-03,
 -1.25109469e-03,-6.74595401e-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,
  9.51071772e-02,-6.99614798e-02, 1.30422206e-01, 9.95594767e-01,
  1.39162646e-04,-4.39298663e-05,-9.37605369e-02]

qacc:
[  3.63740569, -0.96538364,  4.70594249, -9.11582462,  2.03063991,
  -0.71513233,  4.16946151,-10.34225843, -8.30716804, -2.11696979,
   9.91886897,-19.28939712, -0.88173071,  0.79963265,  4.12028516,
 -16.57909227, -1.18723813,  3.26241728, -0.08880618,-42.50198943,
 -30.89534861, -2.47066306]

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([ 6.25356304, -0.21529923, -6.24985575, -0.21529923, 60.86670552,
       -1.88135018, -6.24985575, -1.88135018,  6.31837305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000578566734703273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59459781e-14, -1.91891956e-13,  1.00000000e+00,  1.84112614e-26,
        1.00000000e+00,  1.91891956e-13, -1.00000000e+00,  0.00000000e+00,
        9.59459781e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10402225, -0.09509459,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.64317698e-05, 6.49112504e-05,-4.90515569e+00,-7.18727892e-03,
 -1.24138366e-03,-7.15806805e-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,
  9.50770156e-02,-6.99561936e-02, 1.30416396e-01, 9.95585535e-01,
  1.33274197e-04,-2.78204412e-04,-9.38581213e-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,
 -1.17131528e+00, 3.19281774e+00,-2.96127250e-01,-4.16028547e+01,
 -2.97111039e+01,-2.74321224e+00]

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([  6.2912519 ,   2.17635066,   5.90282545,   2.17635066,
        40.54650952, -12.62979112,   5.90282545, -12.62979112,
        10.94781076,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005830824977336724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52029112e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52029112e-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([ 0.10401748, -0.09509295,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.12428153e-06, 6.48260934e-05,-4.90513939e+00,-7.19209116e-03,
 -1.23379238e-03,-3.46107106e-06]


--- 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,
  9.50425427e-02,-6.99389207e-02, 1.30409300e-01, 9.95575703e-01,
  4.40464749e-05,-5.58637517e-04,-9.39611955e-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, -1.07785188,  2.99666637, -0.32146513,-39.32023445,
 -26.88888158, -2.74634852]

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([ 6.29289693,  1.09356419,  6.19715008,  1.09356419, 52.67010058,
       -8.18383423,  6.19715008, -8.18383423,  7.73703623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005832795589176671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09566837e-07, -3.09566748e-07,  1.00000000e+00,  9.58315990e-14,
        1.00000000e+00,  3.09566748e-07, -1.00000000e+00,  1.26217745e-29,
        3.09566837e-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([ 0.10323858, -0.09352647,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.67659117e-06, 7.92517550e-05,-4.90518939e+00,-7.19166560e-03,
 -1.22284807e-03, 3.37321164e-06]


--- 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,
  9.50142358e-02,-6.99287391e-02, 1.30406269e-01, 9.95565803e-01,
 -3.95830934e-06,-7.81138912e-04,-9.40644593e-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,  1.54153021, -1.77281166,  1.01634604, 17.79856038,
  30.77435824, -0.11031085]

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([ 6.42453088, -2.47969219,  5.92669585, -2.47969219, 38.46231164,
       13.40440554,  5.92669585, 13.40440554, 12.03284968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005990445878055473
  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([ 0.08466424, -0.05599211,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.56526002e-05, 1.05394466e-04,-4.90529288e+00,-7.18637254e-03,
 -1.20880064e-03, 1.27941342e-05]


--- 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,
  9.49919532e-02,-6.99254397e-02, 1.30406228e-01, 9.95555809e-01,
 -1.10080827e-05,-9.48477069e-04,-9.41686374e-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,  1.50606874, -1.72055753,  0.74747469, 17.79189699,
  29.38548765, -0.47539508]

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([ 6.50380646,  2.26074351, -6.09824051,  2.26074351, 40.12992   ,
       12.46589371, -6.09824051, 12.46589371, 11.12517032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006085447254117471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.56097546e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.56097546e-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([ 0.08467005, -0.05599101,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.23357875e-05, 8.19288647e-05,-4.90517949e+00,-7.18598667e-03,
 -1.19319596e-03, 1.29556334e-05]


--- 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,
  9.49755713e-02,-6.99288464e-02, 1.30408243e-01, 9.95545693e-01,
  2.26141773e-05,-1.06292549e-03,-9.42742928e-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, 1.47517121,-1.676527  ,
  0.51375727,17.75466091,28.24230966,-0.76012927]

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([ 6.5383175 ,  2.03230831, -6.21444435,  2.03230831, 51.66390874,
       14.75741176, -6.21444435, 14.75741176, 11.36443049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006126843809409477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26507942e-14, -4.53015884e-14,  1.00000000e+00, -1.02611695e-27,
        1.00000000e+00,  4.53015884e-14, -1.00000000e+00,  0.00000000e+00,
       -2.26507942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08467406, -0.05598945,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.39324074e-06, 6.29682972e-05,-4.90510101e+00,-7.18773364e-03,
 -1.18119249e-03, 1.34645037e-05]


--- 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,
  9.49649837e-02,-6.99388122e-02, 1.30411504e-01, 9.95535427e-01,
  9.66324071e-05,-1.12634579e-03,-9.43818621e-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, 1.4485668 ,-1.63975076,
  0.31177434,17.70168182,27.30445838,-0.98186733]

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([ 6.53650499,  1.72026197, -6.30607614,  1.72026197, 66.76657378,
       16.43042275, -6.30607614, 16.43042275, 11.01863157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000612466889644947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26588376e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.26588376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08467663, -0.0559875 ,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.10981958e-06, 4.78137157e-05,-4.90505387e+00,-7.19164651e-03,
 -1.17262078e-03, 1.42832953e-05]


--- 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,
  9.49600998e-02,-6.99552153e-02, 1.30415318e-01, 9.95524976e-01,
  2.10792029e-04,-1.14025642e-03,-9.44916825e-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,  1.42592964, -1.60933679,  0.13804811, 17.64342238,
  26.5384158 , -1.15417442]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006087547978072955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.83910231e-14, -4.55940154e-14,  1.00000000e+00, -3.11822136e-27,
        1.00000000e+00,  4.55940154e-14, -1.00000000e+00,  0.00000000e+00,
       -6.83910231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08467805, -0.05598524,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.91140232e-05, 3.59533200e-05,-4.90503535e+00,-7.19774547e-03,
 -1.16734459e-03, 1.53813652e-05]


--- 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,
  9.49608510e-02,-6.99779325e-02, 1.30419098e-01, 9.95514303e-01,
  3.64689474e-04,-1.10587252e-03,-9.46040015e-02]

qacc:
[ 2.35191714e+00,-5.27583436e-01,-4.41581080e-01, 7.01037161e+00,
  6.63691424e+00,-3.66952600e+00, 1.50171893e+01,-2.58311947e+01,
 -4.78558188e-01,-4.22295265e-01, 2.75865733e+00,-8.01035706e+00,
  1.51826181e-01,-1.14914004e+00, 2.73668748e+00,-1.32995565e+01,
  1.40878758e+00,-1.57853852e+00,-8.35050208e-03, 1.74968819e+01,
  2.59162591e+01,-1.28199273e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006022848056225343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51141424e-07,  1.51141424e-07,  1.00000000e+00, -2.28437302e-14,
        1.00000000e+00, -1.51141424e-07, -1.00000000e+00, -3.15544362e-30,
        1.51141424e-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([ 0.08466721, -0.05603402,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.65723662e-05, 2.70164440e-05,-4.90504336e+00,-7.20604225e-03,
 -1.16525474e-03, 1.67347258e-05]


--- 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,
  9.49702033e-02,-6.99940607e-02, 1.30423116e-01, 9.95504523e-01,
  4.63476423e-04,-1.01884171e-03,-9.47074003e-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 ,  2.15027343,  1.64726259,  0.05946178,-29.91717927,
  23.60065992,  4.5032255 ]

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([ 6.41543778, -1.21343474, -6.29963634, -1.21343474, 30.14124111,
       -4.57005968, -6.29963634, -4.57005968,  7.2957218 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005979554369671125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28349302e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.28349302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07913538, -0.08215341,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.73873763e-05, 2.06861507e-05,-4.90507616e+00,-7.21653188e-03,
 -1.16627414e-03, 1.83229706e-05]


--- 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,
  9.49879936e-02,-7.00037038e-02, 1.30426703e-01, 9.95495569e-01,
  5.08520038e-04,-8.78939891e-04,-9.48026458e-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,  2.10947637,  1.62126031, -0.10779896,-29.2505419 ,
  23.77403145,  4.11255881]

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([  6.3831586 ,   4.68506157,   4.33530988,   4.68506157,
        35.78949811, -31.77869984,   4.33530988, -31.77869984,
        40.72560923,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005940895714945382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67195133e-14,  9.34390265e-14,  1.00000000e+00, -4.36542584e-27,
        1.00000000e+00, -9.34390265e-14, -1.00000000e+00,  0.00000000e+00,
        4.67195133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07913067, -0.08215247,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.05386067e-05,-8.83413847e-06,-4.90504829e+00,-7.22304902e-03,
 -1.17563488e-03, 1.75490722e-05]


--- 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,
  9.50140886e-02,-7.00069498e-02, 1.30429286e-01, 9.95487368e-01,
  5.00938634e-04,-6.86020156e-04,-9.48903554e-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,  2.0762094 ,  1.59929521, -0.25095303,-28.70398543,
  23.89730098,  3.79631058]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005876112656206245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44691746e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.44691746e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07912605, -0.08215249,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.27676934e-05,-3.13203405e-05,-4.90505813e+00,-7.22584797e-03,
 -1.18740003e-03, 1.45845717e-05]


--- 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,
  9.50360563e-02,-6.99976428e-02, 1.30430442e-01, 9.95478814e-01,
  4.10372570e-04,-5.39884419e-04,-9.49814211e-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, -1.03186158,  3.13823211, -0.35672765,-39.08647858,
 -27.22462322, -1.64699892]

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([ 6.25798765,  5.95033382, -1.93802396,  5.95033382, 11.49356579,
       16.07484651, -1.93802396, 16.07484651, 55.61274535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005790969846444343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31108188e-08,  2.31108263e-08,  1.00000000e+00,  5.34110120e-16,
        1.00000000e+00, -2.31108263e-08, -1.00000000e+00,  0.00000000e+00,
       -2.31108188e-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([ 0.10294099, -0.09458732,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.69796659e-06,-4.74279179e-05,-4.90510437e+00,-7.22500905e-03,
 -1.20166896e-03, 9.45130707e-06]


--- 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,
  9.50534666e-02,-6.99758241e-02, 1.30429302e-01, 9.95469793e-01,
  2.36927288e-04,-4.42771043e-04,-9.50770133e-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, -1.13931454,  3.12793559, -0.57399463,-38.92527244,
 -28.33740888, -2.2427608 ]

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([ 6.23925918,  0.19491974,  6.23621371,  0.19491974, 60.64547309,
       -1.70052622,  6.23621371, -1.70052622,  6.29241101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005768523190897296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92462263e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92462263e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395664, -0.09512297,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.12171200e-05,-3.34586643e-05,-4.90508240e+00,-7.21761194e-03,
 -1.21352548e-03, 4.78264430e-06]


--- 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,
  9.50666910e-02,-6.99422361e-02, 1.30425881e-01, 9.95460245e-01,
 -1.53955588e-05,-3.89853793e-04,-9.51774554e-02]

qacc:
[  0.54066763, -0.75246204,  4.96716519,-14.1508639 , -0.51542333,
   0.32842869, -0.4550583 , -3.20193125,  5.54850762, -1.83252667,
   9.02718817,-19.34940258, -1.11353503,  1.40487968, -4.74264772,
  14.51578512, -1.0464973 ,  2.94231806, -0.57039627,-37.16011119,
 -25.74836718, -2.41636902]

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([ 6.19642966, -1.32468484,  6.0531769 , -1.32468484, 56.85583116,
       11.08636705,  6.0531769 , 11.08636705,  8.62258415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005717164653459958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.39548870e-07, -5.39548906e-07,  1.00000000e+00,  2.91113002e-13,
        1.00000000e+00,  5.39548906e-07, -1.00000000e+00,  0.00000000e+00,
        5.39548870e-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([ 0.10318317, -0.09355988,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.34217914e-05,-7.06447471e-06,-4.90511618e+00,-7.20530995e-03,
 -1.22221430e-03, 2.93769921e-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,
  9.50858349e-02,-6.99154154e-02, 1.30424869e-01, 9.95450578e-01,
 -2.26310815e-04,-2.80536310e-04,-9.52786243e-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, 1.4798795 ,-1.69182059,
  0.60235657,17.92564806,30.04261188,-0.37504462]

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([ 6.26575717, -2.60595868,  5.6981306 , -2.60595868, 35.65337034,
       13.44000533,  5.6981306 , 13.44000533, 12.41235173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005800280171531502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78521292e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.78521292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08469565, -0.05597222,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.23243736e-05, 2.85834072e-05,-4.90520327e+00,-7.18843576e-03,
 -1.22792799e-03, 3.52334418e-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,
  9.51105990e-02,-6.98953492e-02, 1.30425492e-01, 9.95440746e-01,
 -3.94937145e-04,-1.18597823e-04,-9.53810844e-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,  1.40504297, -1.68862985,  0.40891429, 18.54123966,
  28.20554314, -0.65049869]

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([ 6.29830668,  1.0996881 , -6.20156054,  1.0996881 , 52.19029257,
        8.13776959, -6.20156054,  8.13776959,  7.74133192,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005839275832492958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10882933e-06,  1.10882933e-06,  1.00000000e+00,  1.22950249e-12,
        1.00000000e+00, -1.10882933e-06, -1.00000000e+00, -2.01948392e-28,
       -1.10882933e-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([ 0.08510584, -0.05568648,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.32302860e-05,-3.54037313e-06,-4.90516774e+00,-7.17624391e-03,
 -1.23177789e-03,-1.23108436e-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,
  9.51337841e-02,-6.98862665e-02, 1.30427041e-01, 9.95431197e-01,
 -4.80715995e-04, 4.66868716e-05,-9.54803599e-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, -0.39473859, -2.74586397,  0.23130875, 41.07554189,
   5.61590485,  1.59427566]

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([  6.35414982,   6.09957491,   1.78056334,   6.09957491,
         9.61775525, -11.17994814,   1.78056334, -11.17994814,
        44.65266447,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005906156668221802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78999556e-07,  1.78999247e-07,  1.00000000e+00,  3.20407857e-14,
        1.00000000e+00, -1.78999247e-07, -1.00000000e+00, -6.31088724e-30,
       -1.78999556e-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([ 0.0981022 , -0.04666404,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.99561891e-05,-3.18451040e-05,-4.90515829e+00,-7.16629891e-03,
 -1.23904934e-03,-5.40518124e-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,
  9.51528502e-02,-6.98875695e-02, 1.30428864e-01, 9.95422192e-01,
 -4.85592710e-04, 1.93668516e-04,-9.55739824e-02]

qacc:
[ 5.69631625,-0.23720127, 1.25058733,-2.93705629,-6.60920676, 1.46177454,
 -5.4598892 , 9.56954816, 0.48710082, 0.8777156 ,-4.85988332,11.39007832,
 -0.64381751, 0.56663094,-1.2317807 , 1.84430542,-1.0297516 ,-2.59642453,
  0.06831503,41.14004424,-5.24880296, 2.83709073]

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([ 6.38910926,  0.57191403, -6.36346066,  0.57191403, 66.77574063,
        5.42722951, -6.36346066,  5.42722951,  6.87687981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005948022043449908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33270772e-14, -9.33270772e-14,  1.00000000e+00,  8.70994333e-27,
        1.00000000e+00,  9.33270772e-14, -1.00000000e+00,  0.00000000e+00,
        9.33270772e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290971, -0.04737291,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.12961281e-05,-4.29777508e-05,-4.90509618e+00,-7.16022085e-03,
 -1.24451257e-03,-5.09425067e-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,
  9.51679002e-02,-6.98990776e-02, 1.30430210e-01, 9.95413681e-01,
 -4.11537917e-04, 3.21867167e-04,-9.56625852e-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, -1.0040279 , -2.55128484, -0.11891719, 40.18230451,
  -5.57787158,  2.52503018]

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([  6.38962717,  -4.87971544,  -4.12501062,  -4.87971544,
        29.66155671, -27.52972154,  -4.12501062, -27.52972154,
        38.95613898,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005948642277126964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63305356e-13, -9.33173465e-14,  1.00000000e+00, -1.52392225e-26,
        1.00000000e+00,  9.33173465e-14, -1.00000000e+00,  0.00000000e+00,
       -1.63305356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291292, -0.04737444,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.28677069e-06,-3.67636132e-05,-4.90505763e+00,-7.15863768e-03,
 -1.24958270e-03,-3.93485006e-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,
  9.51790206e-02,-6.99206388e-02, 1.30430434e-01, 9.95405607e-01,
 -2.60175767e-04, 4.30937701e-04,-9.57466626e-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,
 -9.82395100e-01,-2.51326624e+00,-2.80536265e-01, 3.93906847e+01,
 -5.82348537e+00, 2.28170067e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005914992778994627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.03861610e-14, -4.69241074e-14,  1.00000000e+00, -3.30280778e-27,
        1.00000000e+00,  4.69241074e-14, -1.00000000e+00,  0.00000000e+00,
       -7.03861610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291589, -0.04737446,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.14171446e-05,-2.24882246e-05,-4.90506073e+00,-7.16203624e-03,
 -1.25450340e-03,-2.96713351e-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,
  9.51862838e-02,-6.99521266e-02, 1.30428980e-01, 9.95397906e-01,
 -3.28323867e-05, 5.20634328e-04,-9.58265989e-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, -0.96430481, -2.48165963, -0.41962853, 38.74272181,
  -6.00559188,  2.09274299]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005854229851704196
  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([ 0.10291867, -0.04737331,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.37967600e-05,-6.11802926e-07,-4.90510316e+00,-7.17031724e-03,
 -1.25915603e-03,-2.19204452e-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,
  9.51887937e-02,-6.99702257e-02, 1.30428035e-01, 9.95389759e-01,
  1.02601470e-04, 5.55445651e-04,-9.59109421e-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, -1.188323  ,  3.34716533,  0.127279  ,-43.11239895,
 -31.71985869, -2.2394593 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005805995868326114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56100426e-14, -1.91220085e-13,  1.00000000e+00,  1.82825605e-26,
        1.00000000e+00,  1.91220085e-13, -1.00000000e+00,  0.00000000e+00,
        9.56100426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391332, -0.09513742,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.09425191e-05, 2.85677905e-05,-4.90518318e+00,-7.18339850e-03,
 -1.26345411e-03,-1.60531078e-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,
  9.51866369e-02,-6.99752658e-02, 1.30426654e-01, 9.95381135e-01,
  1.48312500e-04, 5.37947723e-04,-9.60004455e-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, -1.16669154,  3.26475971, -0.10908623,-42.14461866,
 -30.33687949, -2.61339861]

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([ 6.34021375,  1.52366621,  6.15440912,  1.52366621, 38.11549108,
       -7.86670426,  6.15440912, -7.86670426,  8.28779819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005889467520398955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.42549578e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.42549578e-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([ 0.10390747, -0.09513466,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.88973190e-05, 1.37390156e-05,-4.90505983e+00,-7.19044223e-03,
 -1.26930874e-03,-6.40031631e-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,
  9.51798886e-02,-6.99675280e-02, 1.30424012e-01, 9.95371985e-01,
  1.06164781e-04, 4.70240340e-04,-9.60956759e-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   , -1.14784716,  3.19449344, -0.31510178,-41.31482678,
 -29.2062954 , -2.89534446]

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([  6.36712165,   1.86098862,   6.08908527,   1.86098862,
        46.12840253, -12.15211941,   6.08908527, -12.15211941,
        10.08113696,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005921690822295045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.37420627e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.37420627e-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([ 0.10390333, -0.09513394,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.15401434e-05, 1.36129142e-05,-4.90500891e+00,-7.19222107e-03,
 -1.27168879e-03,-7.80961146e-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,
  9.51686137e-02,-6.99472497e-02, 1.30419394e-01, 9.95362246e-01,
 -2.22680534e-05, 3.54027960e-04,-9.61970537e-02]

qacc:
[  3.17496859,  0.47695898, -1.61947338,  0.54856233, -3.59589403,
  -3.2403779 , 13.17583487,-22.51883228, -2.05124918,  0.59574261,
  -2.02977814,  2.52120636, -0.6815226 ,  0.67789381,-13.26550976,
  43.53909512, -1.13167872,  3.13510195, -0.49399569,-40.61085688,
 -28.28625834, -3.10551099]

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([  6.35929349,   2.24766765,   5.94883214,   2.24766765,
        54.66996932, -18.25338833,   5.94883214, -18.25338833,
        13.2560338 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000591231638097503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38906981e-14, -9.38906981e-14,  1.00000000e+00,  8.81546319e-27,
        1.00000000e+00,  9.38906981e-14, -1.00000000e+00,  0.00000000e+00,
        9.38906981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390056, -0.09513488,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.24521118e-05, 2.75352490e-05,-4.90502454e+00,-7.18880952e-03,
 -1.27081700e-03,-6.11488012e-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,
  9.51528666e-02,-6.99146300e-02, 1.30412180e-01, 9.95351836e-01,
 -2.35672164e-04, 1.90686345e-04,-9.63048849e-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, -1.11801992,  3.08536215, -0.6489788 ,-40.02061956,
 -27.54213408, -3.25955029]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005869595266813216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.45740698e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.45740698e-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([ 0.10389887, -0.09513716,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.40527232e-05, 5.48896761e-05,-4.90510223e+00,-7.18027568e-03,
 -1.26686210e-03,-1.53101139e-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,
  9.51326464e-02,-6.98930820e-02, 1.30407430e-01, 9.95342165e-01,
 -3.66356676e-04, 1.28363949e-05,-9.64045639e-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, -1.11830602, -2.76792631,  0.61574542, 41.86547511,
  -3.23832943,  4.09888354]

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([ 6.43114738,  0.04086608,  6.43101754,  0.04086608, 40.37980614,
       -0.2157277 ,  6.43101754, -0.2157277 ,  6.43251823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005998371457278662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.25437039e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.25437039e-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([ 0.10294913, -0.0473806 ,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.39827062e-05, 9.51060642e-05,-4.90523858e+00,-7.16667954e-03,
 -1.25995148e-03, 5.78015478e-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,
  9.51080928e-02,-6.98823074e-02, 1.30404068e-01, 9.95333141e-01,
 -4.16439718e-04,-1.81031453e-04,-9.64973206e-02]

qacc:
[  0.65918874,  1.12534725, -6.04256088, 12.89559155,  1.24642494,
   2.29329057,-10.06649588, 20.44428075,  0.78232955, -0.41825563,
   1.32574031, -2.86756647, -0.27768226, -0.30950582,  6.84086259,
 -26.95227706, -1.08331182, -2.69334422,  0.34728599, 40.88519405,
  -4.08774175,  3.47377955]

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([ 6.50497725, -1.77139569, -6.25914422, -1.77139569, 35.09780983,
       -8.092036  , -6.25914422, -8.092036  ,  8.79509825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006086851148050798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27996175e-14, -9.11984701e-14,  1.00000000e+00, -2.07929024e-27,
        1.00000000e+00,  9.11984701e-14, -1.00000000e+00,  0.00000000e+00,
       -2.27996175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10295485, -0.04738365,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.89256835e-05, 7.47661776e-05,-4.90516541e+00,-7.15999398e-03,
 -1.24363227e-03, 4.72334303e-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,
  9.50819871e-02,-6.98826264e-02, 1.30401648e-01, 9.95324403e-01,
 -3.86373673e-04,-3.71129420e-04,-9.65869856e-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 , -0.38805917, -2.77341833,  0.2352931 , 39.70596964,
   5.74261226,  1.54601342]

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([  6.54068553,  -4.25446035,  -4.96791046,  -4.25446035,
        33.22265487, -22.85012615,  -4.96791046, -22.85012615,
        26.10926602,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006129685463826112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26402935e-14, -9.05611741e-14,  1.00000000e+00,  2.05033156e-27,
        1.00000000e+00,  9.05611741e-14, -1.00000000e+00,  0.00000000e+00,
        2.26402935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09803328, -0.04665033,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.12658165e-05, 6.46943558e-05,-4.90513902e+00,-7.15828156e-03,
 -1.22758768e-03, 3.77576091e-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,
  9.50545994e-02,-6.98936869e-02, 1.30399444e-01, 9.95315847e-01,
 -2.78669392e-04,-5.57204258e-04,-9.66745874e-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,
 -3.20479658e-01,-2.68536326e+00, 5.41596285e-02, 3.84437428e+01,
  5.75121601e+00, 1.02190610e+00]

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([  6.54675465,  -1.56396701,  -6.35720093,  -1.56396701,
        54.13280269, -11.70688328,  -6.35720093, -11.70688328,
         9.42682395,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006136969219878183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93181847e-07,  2.93181757e-07,  1.00000000e+00, -8.59555691e-14,
        1.00000000e+00, -2.93181757e-07, -1.00000000e+00,  1.26217745e-29,
        2.93181847e-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([ 0.09760734, -0.04695064,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.75144872e-07, 6.04437514e-05,-4.90512914e+00,-7.16165853e-03,
 -1.21281546e-03, 2.81629306e-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,
  9.50331565e-02,-6.99115017e-02, 1.30399341e-01, 9.95307109e-01,
 -1.30865205e-04,-6.92260508e-04,-9.67639568e-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,  1.48618312, -1.68857438,  0.52512885, 17.48941777,
  27.32832093, -0.89253686]

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([  6.57619836,  -4.60701363,  -4.69274017,  -4.60701363,
        31.11731523, -24.09280204,  -4.69274017, -24.09280204,
        30.22887535,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006172321993257734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24839012e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.24839012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08475095, -0.05593776,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.07606629e-05, 6.59843094e-05,-4.90515778e+00,-7.16971075e-03,
 -1.19904627e-03, 2.40590940e-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,
  9.50175389e-02,-6.99359222e-02, 1.30400512e-01, 9.95298151e-01,
  5.69292560e-05,-7.77761121e-04,-9.68554676e-02]

qacc:
[ -6.08634955, -0.62943216,  1.01928992,  2.95527497, -2.25337327,
  -0.25684491,  3.05935923,-10.44460092, -2.61172336, -0.90452759,
   0.23155848,  8.17063584,  0.06129853, -1.01262524, -3.50935113,
   8.99780598,  1.45633393, -1.65143016,  0.31861196, 17.50294678,
  26.59641247, -1.08685394]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006166488377710166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.75155143e-14,  9.00206857e-14,  1.00000000e+00, -6.07779289e-27,
        1.00000000e+00, -9.00206857e-14, -1.00000000e+00,  0.00000000e+00,
        6.75155143e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08475227, -0.05593527,  0.06198095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.23116473e-05, 6.16122313e-05,-4.90513556e+00,-7.18049855e-03,
 -1.19009186e-03, 5.12934016e-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,
  9.50076453e-02,-6.99668267e-02, 1.30402248e-01, 9.95288936e-01,
  2.84599523e-04,-8.14912102e-04,-9.69494093e-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, 1.43100602,-1.62099022,
  0.14113463,17.50175703,25.99207537,-1.23913056]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006125773823607433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.53095012e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.53095012e-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([ 0.08475271, -0.05593256,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.73645912e-05, 6.01698643e-05,-4.90514043e+00,-7.19346543e-03,
 -1.18431463e-03, 8.06789240e-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,
  9.50050455e-02,-6.99986389e-02, 1.30405731e-01, 9.95279839e-01,
  5.11065473e-04,-8.00318433e-04,-9.70419512e-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,  1.82343514, -0.2269317 ,  0.43699827, -3.10707423,
  25.69230689,  0.69544421]

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([ 6.48628716, -0.855874  , -6.42957236, -0.855874  , 49.6936379 ,
       -5.75155643, -6.42957236, -5.75155643,  7.25190691,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006064443324049484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37303166e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.37303166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221703, -0.06710459,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.58896297e-05, 6.14112744e-05,-4.90517080e+00,-7.20862551e-03,
 -1.18163199e-03, 1.12151183e-05]


--- 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,
  9.50112013e-02,-7.00238165e-02, 1.30410043e-01, 9.95271600e-01,
  6.81790773e-04,-7.30849967e-04,-9.71259146e-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,  2.18891625,  1.65864108,  0.2070276 ,-30.39813885,
  24.60583473,  4.31895329]

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([ 6.48545528, -0.37919367, -6.47436038, -0.37919367, 47.65273917,
       -2.41110666, -6.47436038, -2.41110666,  6.62667021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006063446143736995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15504977e-14,  9.15504977e-14,  1.00000000e+00, -8.38149363e-27,
        1.00000000e+00, -9.15504977e-14, -1.00000000e+00,  0.00000000e+00,
        9.15504977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07908247, -0.0820703 ,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.46320300e-05, 4.70193800e-05,-4.90516178e+00,-7.22341782e-03,
 -1.18422929e-03, 1.41562021e-05]


--- 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,
  9.50126752e-02,-7.00359366e-02, 1.30413719e-01, 9.95262986e-01,
  7.65512289e-04,-7.14043598e-04,-9.72136477e-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, -1.17048434,  3.264377  , -0.15907382,-40.7400201 ,
 -30.43312835, -1.84442515]

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([ 6.48463837,  6.32296018, -1.43899595,  6.32296018,  9.1655033 ,
       11.77974277, -1.43899595, 11.77974277, 58.24492609,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006062466921906984
  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([ 0.10384895, -0.09514057,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.34204320e-05, 1.45161644e-05,-4.90510306e+00,-7.23428048e-03,
 -1.19268341e-03, 1.48533186e-05]


--- 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,
  9.50095410e-02,-7.00352962e-02, 1.30415945e-01, 9.95253942e-01,
  7.63646881e-04,-7.47753703e-04,-9.73059493e-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, -1.15201677,  3.19014335, -0.36228877,-40.13677072,
 -29.30059885, -2.24436532]

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([ 6.49124435, -0.17923595,  6.48876935, -0.17923595, 47.75241957,
        1.13973629,  6.48876935,  1.13973629,  6.5227267 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006070385863044397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14458364e-14, -1.82891673e-13,  1.00000000e+00,  1.67246820e-26,
        1.00000000e+00,  1.82891673e-13, -1.00000000e+00,  0.00000000e+00,
        9.14458364e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384471, -0.0951423 ,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.38753780e-05, 8.79679644e-06,-4.90502218e+00,-7.23822079e-03,
 -1.19726746e-03, 1.17250354e-05]


--- 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,
  9.50018620e-02,-7.00221440e-02, 1.30416021e-01, 9.95244404e-01,
  6.77408791e-04,-8.30241125e-04,-9.74034261e-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, -1.13621305,  3.12793434, -0.53758524,-39.61470667,
 -28.38005157, -2.54924565]

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([ 6.4655731 ,  0.29260097,  6.45894884,  0.29260097, 60.10633784,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006039616933577741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.19117087e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.19117087e-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([ 0.1038419 , -0.09514526,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.57124378e-06, 1.61446586e-05,-4.90500588e+00,-7.23715874e-03,
 -1.19846896e-03, 1.16772525e-05]


--- 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,
  9.50026819e-02,-7.00025528e-02, 1.30416295e-01, 9.95235686e-01,
  5.34368278e-04,-8.54058558e-04,-9.74931525e-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,  2.12472775,  1.60974626,  0.04952192,-31.12053652,
  26.43207954,  3.90037214]

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([ 6.44500221, -5.33856527,  3.61078582, -5.33856527, 16.43920121,
       14.77647423,  3.61078582, 14.77647423, 28.29209478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000601496904375276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22883407e-14, -9.22883407e-14,  1.00000000e+00,  8.51713783e-27,
        1.00000000e+00,  9.22883407e-14, -1.00000000e+00,  0.00000000e+00,
        9.22883407e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07907557, -0.08206097,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.40598549e-05, 3.62520506e-05,-4.90505023e+00,-7.23112929e-03,
 -1.19648413e-03, 1.45079600e-05]


--- 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,
  9.50118640e-02,-6.99765922e-02, 1.30416108e-01, 9.95227719e-01,
  3.36197899e-04,-8.20243768e-04,-9.75756166e-02]

qacc:
[  1.62581716, -0.38582253,  1.64332484, -5.08928721, -2.71819984,
   0.16205463, -1.89227919,  6.27551787,  2.93205378, -0.433497  ,
   2.33942417, -6.04350346, -1.31557083,  1.87770433, -0.47471762,
  -0.19387159,  2.09056037,  1.59236904, -0.11532172,-30.24007802,
  25.99369177,  3.6586609 ]

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([ 6.41593049,  6.05846277, -2.11168009,  6.05846277, 12.98813864,
       18.85582884, -2.11168009, 18.85582884, 60.51377295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005980144499630191
  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([ 0.07907469, -0.08205902,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.01222758e-05, 2.43989154e-05,-4.90506689e+00,-7.22364370e-03,
 -1.19651087e-03, 1.41911501e-05]


--- 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,
  9.50282236e-02,-6.99515400e-02, 1.30417646e-01, 9.95219884e-01,
  1.37061876e-04,-7.29834347e-04,-9.76566958e-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, 1.79437428,-0.22712242,
  0.43122157,-3.24110066,28.11544786, 0.68649738]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005925501426706503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68408893e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.68408893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222347, -0.06709093,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.83862493e-05, 1.95512325e-05,-4.90512388e+00,-7.21228654e-03,
 -1.19931398e-03, 1.13863576e-05]


--- 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,
  9.50503275e-02,-6.99330524e-02, 1.30420429e-01, 9.95211840e-01,
 -2.02802949e-05,-5.86817626e-04,-9.77397040e-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,  1.43605642, -1.64112626,  0.31149032, 18.22761952,
  28.21843192, -0.9890525 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000592212608012288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37351729e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.37351729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08477723, -0.05591605,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.43150454e-05, 4.04491418e-06,-4.90514379e+00,-7.20056658e-03,
 -1.20381661e-03, 6.95571293e-06]


--- 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,
  9.50781102e-02,-6.99210064e-02, 1.30423784e-01, 9.95203552e-01,
 -1.36422173e-04,-3.92925361e-04,-9.78249312e-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,  1.4197301 , -1.61042113,  0.14271028, 18.01457584,
  27.32937558, -1.12759253]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005901949516110699
  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([ 0.08477976, -0.05591497,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.47715800e-05,-2.05655628e-05,-4.90513237e+00,-7.19117071e-03,
 -1.21039498e-03, 3.05472279e-06]


--- 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,
  9.51115185e-02,-6.99152992e-02, 1.30427128e-01, 9.95194985e-01,
 -2.11874599e-04,-1.49542017e-04,-9.79125905e-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,
  1.40638795e+00,-1.58467962e+00,-2.60270737e-03, 1.78259160e+01,
  2.66171820e+01,-1.22855793e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005853286707336591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74187871e-14, -9.48375742e-14,  1.00000000e+00, -4.49708274e-27,
        1.00000000e+00,  9.48375742e-14, -1.00000000e+00,  0.00000000e+00,
       -4.74187871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0847812 , -0.05591343,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.16637569e-05,-4.21830968e-05,-4.90514752e+00,-7.18402817e-03,
 -1.22029628e-03,-4.67493004e-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,
  9.51433918e-02,-6.99201653e-02, 1.30429979e-01, 9.95186563e-01,
 -2.06533088e-04, 9.49133530e-05,-9.79982353e-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, -0.38377205, -2.64333745, -0.12327385, 40.15054484,
   4.48860633,  1.00361364]

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([  6.26772415,   5.69551733,   2.61638078,   5.69551733,
        14.20716617, -17.28312255,   2.61638078, -17.28312255,
        43.89081206,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005802637080513602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56356839e-07,  4.56356815e-07,  1.00000000e+00,  2.08261554e-13,
        1.00000000e+00, -4.56356815e-07, -1.00000000e+00, -2.52435490e-29,
       -4.56356839e-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([ 0.09822771, -0.04667135,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.50430836e-05,-6.11037585e-05,-4.90518759e+00,-7.17912397e-03,
 -1.23341576e-03,-3.66333516e-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,
  9.51712433e-02,-6.99351184e-02, 1.30432039e-01, 9.95178563e-01,
 -1.21862589e-04, 3.19774302e-04,-9.80791013e-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, -1.00541783, -2.52176368, -0.19766715, 40.43349817,
  -5.86351516,  2.40038771]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005795969712821952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57754336e-14,  9.57754336e-14,  1.00000000e+00, -9.17293368e-27,
        1.00000000e+00, -9.57754336e-14, -1.00000000e+00,  0.00000000e+00,
        9.57754336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303225, -0.04740353,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.19723149e-05,-5.96157706e-05,-4.90517212e+00,-7.17802864e-03,
 -1.24504703e-03,-2.48699790e-06]


--- 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,
  9.51951568e-02,-6.99600305e-02, 1.30432721e-01, 9.95170940e-01,
  4.04307098e-05, 5.24865237e-04,-9.81556064e-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 , -0.98452703, -2.48972829, -0.34478162, 39.59311164,
  -6.03108598,  2.19953751]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005761327379549819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81756612e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.81756612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303469, -0.04740408,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.32394833e-05,-4.20936903e-05,-4.90516806e+00,-7.18135462e-03,
 -1.25620855e-03,-9.50087999e-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,
  9.52144251e-02,-6.99716535e-02, 1.30433475e-01, 9.95162871e-01,
  1.12496753e-04, 6.76313517e-04,-9.82363950e-02]

qacc:
[ 4.77176600e+00, 8.78488081e-02, 1.61439408e+00,-6.99856695e+00,
 -3.08136432e+00,-2.06278697e+00, 9.11965056e+00,-1.86731080e+01,
 -2.85709688e-01, 1.16407616e+00,-5.31572636e+00, 1.06480918e+01,
 -5.27740609e-01, 3.14569084e-01,-9.11110414e+00, 2.85239951e+01,
 -1.16128093e+00, 3.32226555e+00, 1.82913837e-02,-4.22619751e+01,
 -3.11199314e+01,-2.17581712e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000580480044255885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.56297323e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.56297323e-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([ 0.10380465, -0.09517609,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.86306797e-05,-1.70737455e-05,-4.90520369e+00,-7.18959582e-03,
 -1.26706416e-03, 3.37061515e-07]


--- 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,
  9.52291356e-02,-6.99703005e-02, 1.30433416e-01, 9.95154319e-01,
  9.61992364e-05, 7.76559845e-04,-9.83222716e-02]

qacc:
[ -3.06938731, -1.05864265,  6.1498861 ,-15.11502759, -4.9810236 ,
  -0.69227689,  0.53606569,  5.31958822, -3.27817998,  1.3791649 ,
  -3.53509855,  0.78125451, -0.42229357,  0.14982507, -6.62500065,
  19.84608828, -1.13946341,  3.24399682, -0.2032609 ,-41.45137188,
 -29.81752274, -2.58246561]

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([ 6.32081395,  0.97418527,  6.24529039,  0.97418527, 42.46058545,
       -5.63734124,  6.24529039, -5.63734124,  7.20016695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005866234036600582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.46282588e-14, -9.46282588e-14,  1.00000000e+00,  8.95450735e-27,
        1.00000000e+00,  9.46282588e-14, -1.00000000e+00,  0.00000000e+00,
        9.46282588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379934, -0.09517473,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.09047634e-05,-2.63289614e-05,-4.90507949e+00,-7.19216699e-03,
 -1.27971865e-03,-7.36016034e-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,
  9.52393647e-02,-6.99562369e-02, 1.30431774e-01, 9.95145230e-01,
 -6.87154639e-06, 8.27597770e-04,-9.84138517e-02]

qacc:
[-4.91908077e+00, 1.08105657e+00,-3.93015082e+00, 5.40400754e+00,
 -5.09105544e-02,-1.50942733e+00, 5.41298393e+00,-7.44808847e+00,
 -1.98494427e+00, 1.72284647e-02, 3.64417268e+00,-1.67345879e+01,
 -1.14414634e+00, 1.48449825e+00,-3.04076937e-02,-1.15610462e+00,
 -1.12034589e+00, 3.17766137e+00,-3.95861076e-01,-4.07550141e+01,
 -2.87509156e+01,-2.89564677e+00]

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([ 6.33322283,  1.35312535,  6.18698337,  1.35312535, 51.79774728,
       -9.94332728,  6.18698337, -9.94332728,  8.50788008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005881095307334744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43891373e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.43891373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379563, -0.09517512,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.48512072e-06,-2.18760992e-05,-4.90502589e+00,-7.18957924e-03,
 -1.28898549e-03,-1.17867787e-05]


--- 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,
  9.52434202e-02,-6.99322657e-02, 1.30429571e-01, 9.95135567e-01,
 -1.74418692e-04, 8.22673760e-04,-9.85113961e-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,
 -1.54337949e+00, 2.47690206e+00,-1.40307210e-01,-2.93254918e+01,
 -3.10175524e+01,-3.02279599e+00]

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([  6.31183729,   2.28535846,   5.88357262,   2.28535846,
        37.68373032, -12.18579693,   5.88357262, -12.18579693,
        11.04517126,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005855482688519323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.30666562e-07,  1.31834041e-13,  1.00000000e+00,  9.63267258e-20,
        1.00000000e+00, -1.31834041e-13, -1.00000000e+00, -1.20370622e-35,
       -7.30666562e-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([ 0.10672837, -0.08851683,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.27761506e-05,-4.13061260e-06,-4.90503754e+00,-7.18188398e-03,
 -1.29507939e-03,-1.31948310e-05]


--- 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,
  9.52431608e-02,-6.99190345e-02, 1.30428670e-01, 9.95126615e-01,
 -2.61180076e-04, 8.02123162e-04,-9.86017665e-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, -1.07875719, -2.68501329,  0.32557967, 40.96320202,
  -3.79704587,  3.63644378]

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([ 6.3217892 , -0.49035671,  6.30274297, -0.49035671, 36.58397335,
        2.35441378,  6.30274297,  2.35441378,  6.50496383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005867402056695808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89218842e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89218842e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10305594, -0.04741192,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.29915666e-05, 2.43624898e-05,-4.90508769e+00,-7.17034072e-03,
 -1.29675225e-03,-1.14238014e-05]


--- 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,
  9.52387098e-02,-6.99163011e-02, 1.30428179e-01, 9.95118300e-01,
 -2.68979482e-04, 7.64810065e-04,-9.86859288e-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, -1.04788795, -2.6244365 ,  0.10258105, 40.11258249,
  -4.44857484,  3.1497688 ]

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([  6.36128002,  -2.3081658 ,  -5.92775288,  -2.3081658 ,
        42.51240593, -14.07663142,  -5.92775288, -14.07663142,
        11.84248005,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000591469530935057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69264673e-14,  9.38529346e-14,  1.00000000e+00,  4.40418667e-27,
        1.00000000e+00, -9.38529346e-14, -1.00000000e+00,  0.00000000e+00,
       -4.69264673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306083, -0.04741375,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.45355229e-05, 1.52907327e-05,-4.90502592e+00,-7.16506704e-03,
 -1.29091542e-03,-1.13931595e-05]


--- 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,
  9.52301696e-02,-6.99238601e-02, 1.30427327e-01, 9.95110547e-01,
 -1.99355969e-04, 7.09866146e-04,-9.87646492e-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, -1.02229846, -2.5731138 , -0.09052202, 39.39043351,
  -4.95304762,  2.76268966]

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([  6.36494482,  -2.65136584,  -5.78643082,  -2.65136584,
        51.68794076, -20.76717876,  -5.78643082, -20.76717876,
        15.88054953,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005919084004012837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68916738e-14, -1.87566695e-13,  1.00000000e+00,  8.79531628e-27,
        1.00000000e+00,  1.87566695e-13, -1.00000000e+00,  0.00000000e+00,
        4.68916738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306511, -0.04741406,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.87222200e-06, 1.50537138e-05,-4.90500687e+00,-7.16472772e-03,
 -1.28519126e-03,-1.13764639e-05]


--- 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,
  9.52176244e-02,-6.99415393e-02, 1.30425445e-01, 9.95103279e-01,
 -5.35953575e-05, 6.36625834e-04,-9.88385356e-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,-1.00125557,-2.53004512,
 -0.25712372,38.78426617,-5.34429367, 2.45431537]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005888914786496974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71319023e-14, -1.88527609e-13,  1.00000000e+00,  8.88566484e-27,
        1.00000000e+00,  1.88527609e-13, -1.00000000e+00,  0.00000000e+00,
        4.71319023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306892, -0.04741315,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.27797785e-05, 2.30271681e-05,-4.90502822e+00,-7.16924254e-03,
 -1.27939162e-03,-1.14235666e-05]


--- 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,
  9.52005123e-02,-6.99462235e-02, 1.30422900e-01, 9.95095452e-01,
  2.10501024e-06, 5.11911446e-04,-9.89180397e-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, -1.14170356,  3.24874351, -0.16603511,-42.26403776,
 -30.06139437, -2.85274674]

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: -0.0005856172885340266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47908341e-14, -9.47908341e-14,  1.00000000e+00,  8.98530223e-27,
        1.00000000e+00,  9.47908341e-14, -1.00000000e+00,  0.00000000e+00,
        9.47908341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377531, -0.09517858,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.29967633e-05, 3.87733587e-05,-4.90508815e+00,-7.17854194e-03,
 -1.27337535e-03,-1.15669492e-05]


--- 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,
  9.51788979e-02,-6.99381777e-02, 1.30418899e-01, 9.95087017e-01,
 -3.03260142e-05, 3.37670756e-04,-9.90036048e-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, -1.12560335,  3.18251961, -0.36375357,-41.39849968,
 -29.00044177, -3.06827246]

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([  6.33327812,   2.5835958 ,   5.78233902,   2.5835958 ,
        44.29378615, -16.96106176,   5.78233902, -16.96106176,
        13.91161759,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005881161526826162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.43880745e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.43880745e-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([ 0.10377157, -0.0951777 ,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.25523792e-06, 3.87372061e-05,-4.90506619e+00,-7.18163662e-03,
 -1.26874643e-03,-9.42256640e-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,
  9.51528354e-02,-6.99176259e-02, 1.30412757e-01, 9.95077905e-01,
 -1.49268114e-04, 1.15477485e-04,-9.90955489e-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 , -1.11199627,  3.12647938, -0.53560775,-40.66821872,
 -28.14073958, -3.22260975]

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([  6.32098885,   2.92893076,   5.60145201,   2.92893076,
        51.25911187, -23.49759506,   5.60145201, -23.49759506,
        18.60759399,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00058664435027099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.365622e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        2.365622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037691 , -0.09517851,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.77124507e-06, 5.30854533e-05,-4.90510957e+00,-7.17950303e-03,
 -1.26092941e-03,-4.23392694e-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,
  9.51224008e-02,-6.99078104e-02, 1.30407878e-01, 9.95069424e-01,
 -1.87865293e-04,-1.22897995e-04,-9.91805932e-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,
 -1.09305349e+00,-2.68407719e+00, 3.16099044e-01, 4.07761699e+01,
 -4.07091857e+00, 3.46759391e+00]

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([ 6.3855829 ,  0.13479776,  6.38415997,  0.13479776, 39.75549614,
       -0.70458599,  6.38415997, -0.70458599,  6.40045982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005943798967786573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66966931e-14, -9.33933862e-14,  1.00000000e+00,  4.36116229e-27,
        1.00000000e+00,  9.33933862e-14, -1.00000000e+00,  0.00000000e+00,
        4.66966931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10308751, -0.04741523,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.99234864e-05, 8.10661713e-05,-4.90521404e+00,-7.17222114e-03,
 -1.25007073e-03, 3.79755943e-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,
  9.50902908e-02,-6.99090733e-02, 1.30403900e-01, 9.95061208e-01,
 -1.46243066e-04,-3.58280836e-04,-9.92624946e-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,
 -4.18834499e-01,-2.76958427e+00, 2.25172799e-01, 3.97637512e+01,
  5.46676672e+00, 1.57216753e+00]

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([  6.41927563,  -3.94924393,  -5.06068888,  -3.94924393,
        37.55488256, -24.29750368,  -5.06068888, -24.29750368,
        25.38048252,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005984151162527682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11300849e-07,  1.11300780e-07,  1.00000000e+00,  1.23878713e-14,
        1.00000000e+00, -1.11300780e-07, -1.00000000e+00,  0.00000000e+00,
       -1.11300849e-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([ 0.09829328, -0.04667432,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.21639453e-06, 7.05549316e-05,-4.90519800e+00,-7.17160539e-03,
 -1.23174101e-03, 2.60101007e-06]


--- 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,
  9.50641742e-02,-6.99172387e-02, 1.30402690e-01, 9.95052816e-01,
 -6.35970462e-05,-5.40622476e-04,-9.93458457e-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 ,  1.49834995, -1.72561239,  0.69185199, 17.77781899,
  28.42575814, -0.73346727]

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([  6.47129438,  -4.27426755,  -4.85883606,  -4.27426755,
        34.33529305, -24.51166984,  -4.85883606, -24.51166984,
        28.03395541,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006046473290878679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.88556145e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.88556145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08483218, -0.05587638,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.10878728e-08, 6.69247897e-05,-4.90519392e+00,-7.17600423e-03,
 -1.21459902e-03, 1.47421216e-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,
  9.50439230e-02,-6.99321398e-02, 1.30403342e-01, 9.95044221e-01,
  5.98379510e-05,-6.71771596e-04,-9.94310949e-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,  1.46635717, -1.68396502,  0.46559605, 17.75019184,
  27.49574433, -0.96378145]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006079634979098275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14133397e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14133397e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0848349 , -0.0558747 ,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.78589854e-06, 5.84013777e-05,-4.90513751e+00,-7.18305548e-03,
 -1.20251853e-03, 3.52826886e-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,
  9.50294275e-02,-6.99536386e-02, 1.30405075e-01, 9.95035393e-01,
  2.23833719e-04,-7.53252876e-04,-9.95185897e-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, 1.43890536,-1.64938684,
  0.2701694 ,17.70986947,26.72720371,-1.14402601]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000607144162845033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57149674e-14, -9.14299348e-14,  1.00000000e+00,  4.17971649e-27,
        1.00000000e+00,  9.14299348e-14, -1.00000000e+00,  0.00000000e+00,
        4.57149674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08483646, -0.05587266,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.71642000e-05, 5.31759306e-05,-4.90511071e+00,-7.19230120e-03,
 -1.19374360e-03, 5.83961381e-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,
  9.50205943e-02,-6.99816213e-02, 1.30407216e-01, 9.95026294e-01,
  4.28182944e-04,-7.86317847e-04,-9.96085990e-02]

qacc:
[  8.05669778, -1.483698  ,  7.2461521 ,-14.67630289,  1.38982596,
   2.17870719, -8.46684841, 14.25508521,  1.58925782, -0.64164784,
   2.99511657, -6.98864005, -1.64679194,  2.52211126, -7.01873509,
  21.2916406 ,  1.41559237, -1.6210045 ,  0.1021259 , 17.66648089,
  26.09554709, -1.28502754]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006030139844361293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.84112318e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.84112318e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08483711, -0.05587033,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.10849440e-05, 5.08911467e-05,-4.90511133e+00,-7.20375544e-03,
 -1.18816669e-03, 8.39096397e-06]


--- 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,
  9.50206211e-02,-7.00029586e-02, 1.30410515e-01, 9.95018087e-01,
  5.76346212e-04,-7.63743121e-04,-9.96899755e-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,  2.214979  ,  1.66137698,  0.28953533,-30.72114595,
  24.88537732,  4.34947156]

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([ 6.45083379, -1.2085417 , -6.33661452, -1.2085417 , 38.53377417,
       -6.11897269, -6.33661452, -6.11897269,  7.61786606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006021955785815436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.21812667e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.21812667e-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([ 0.07903174, -0.08198265,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.85014228e-05, 5.12959963e-05,-4.90513769e+00,-7.21742614e-03,
 -1.18570095e-03, 1.11690877e-05]


--- 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,
  9.50293155e-02,-7.00177762e-02, 1.30414173e-01, 9.95010724e-01,
  6.69923008e-04,-6.85793496e-04,-9.97634241e-02]

qacc:
[ -3.06224132,  0.44731277, -3.72801111, 11.6244129 , -0.67410017,
   0.5689908 , -2.49695731,  4.61826247, -2.46126738,  2.79464371,
 -12.75393657, 24.88989297,  0.03358926, -0.58603622, -6.58745744,
  19.62447467,  2.16691817,  1.62990069,  0.08955226,-29.91464003,
  24.83125832,  3.99119372]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006022751843743207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30422707e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.30422707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07902876, -0.08198087,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.90638315e-05, 1.96959012e-05,-4.90506976e+00,-7.22722837e-03,
 -1.19105101e-03, 1.30430084e-05]


--- 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,
  9.50334411e-02,-7.00196981e-02, 1.30416660e-01, 9.95002929e-01,
  6.77394832e-04,-6.58641835e-04,-9.98412672e-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, -1.14220784,  3.22393271, -0.29264795,-40.30515901,
 -29.56894296, -2.16128812]

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([ 6.45495061,  6.23388501, -1.67483284,  6.23388501, 10.67300388,
       15.69999009, -1.67483284, 15.69999009, 64.89178698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006026888376826772
  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([ 0.10372776, -0.09518322,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.82289003e-05,-4.30515129e-06,-4.90504265e+00,-7.23321228e-03,
 -1.19893140e-03, 1.25577282e-05]


--- 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,
  9.50330665e-02,-7.00089895e-02, 1.30417239e-01, 9.94994642e-01,
  6.00009167e-04,-6.80446425e-04,-9.99241715e-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, -1.1250339 ,  3.15763254, -0.47682896,-39.77429723,
 -28.59382336, -2.49801893]

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([ 6.44237678e+00, -1.28254418e-03,  6.44237665e+00, -1.28254418e-03,
        5.71239278e+01,  1.00896504e-02,  6.44237665e+00,  1.00896504e-02,
        6.44237879e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00060118237030303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23366252e-14, -9.23366252e-14,  1.00000000e+00,  8.52605236e-27,
        1.00000000e+00,  9.23366252e-14, -1.00000000e+00,  0.00000000e+00,
        9.23366252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372455, -0.09518573,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.52594366e-06,-1.82029789e-06,-4.90500094e+00,-7.23257249e-03,
 -1.20340972e-03, 1.03240084e-05]


--- 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,
  9.50282504e-02,-6.99858714e-02, 1.30415277e-01, 9.94985787e-01,
  4.38825957e-04,-7.49715295e-04,-1.00012643e-01]

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  , -1.1104018 ,  3.10237433, -0.63555564,-39.31936437,
 -27.80191483, -2.75504684]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005963359804725954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8617408e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8617408e-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([ 0.10372253, -0.0951893 ,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.00710744e-05, 1.34747686e-05,-4.90502129e+00,-7.22695266e-03,
 -1.20467170e-03, 1.10213852e-05]


--- 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,
  9.50319310e-02,-6.99563593e-02, 1.30413334e-01, 9.94977707e-01,
  2.21476098e-04,-7.60093475e-04,-1.00093638e-01]

qacc:
[-5.35824312e+00,-1.38553437e-01,-1.07583503e+00, 6.33932325e+00,
  2.82885971e+00, 1.31421007e+00,-6.53014147e+00, 1.41050237e+01,
  4.00453924e+00, 4.50288547e-01, 9.07288973e-01,-9.16460117e+00,
 -1.05693235e+00, 1.33969478e+00, 3.96378530e+00,-1.51658984e+01,
  2.12419721e+00, 1.59848439e+00, 5.00098532e-03,-3.08847834e+01,
  2.64909424e+01, 3.76581730e+00]

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([ 6.37691061, -5.2872037 ,  3.56517404, -5.2872037 , 17.22163786,
       16.08288445,  3.56517404, 16.08288445, 30.22805655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005933413440755153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87113714e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87113714e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07902258, -0.08197377,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.04598866e-05, 4.12711386e-05,-4.90510042e+00,-7.21638525e-03,
 -1.20287708e-03, 1.44842582e-05]


--- 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,
  9.50414747e-02,-6.99336702e-02, 1.30413852e-01, 9.94969465e-01,
  4.66081541e-05,-7.15750012e-04,-1.00176095e-01]

qacc:
[ -3.40087625, -0.53555862,  4.12152605,-12.55341634, -1.28572654,
  -3.1409424 , 12.35876945,-20.97076187,  2.45982849,  1.45359125,
  -6.17422407, 12.16076099, -1.8033662 ,  2.59952124, 14.11232061,
 -50.02420628,  1.46576816, -1.70572176,  0.61506318, 18.39509794,
  29.34926928, -0.75721272]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005949610702361968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33021571e-14, -1.86604314e-13,  1.00000000e+00,  1.74105850e-26,
        1.00000000e+00,  1.86604314e-13, -1.00000000e+00,  0.00000000e+00,
        9.33021571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0848555 , -0.05586005,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.76511170e-05, 3.71958920e-05,-4.90514833e+00,-7.20417494e-03,
 -1.20276573e-03, 1.27858732e-05]


--- 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,
  9.50567898e-02,-6.99176445e-02, 1.30415984e-01, 9.94961033e-01,
 -8.64089450e-05,-6.18836357e-04,-1.00260421e-01]

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,  1.4428346 , -1.66588372,  0.40362224, 18.18635378,
  28.24898395, -0.95551372]

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([ 6.41573541,  0.22612391, -6.41174928,  0.22612391, 59.60551262,
        1.87585005, -6.41174928,  1.87585005,  6.48189123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005979910848126213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.96220470e-14, -1.39244094e-13,  1.00000000e+00, -9.69445886e-27,
        1.00000000e+00,  1.39244094e-13, -1.00000000e+00,  0.00000000e+00,
       -6.96220470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08485942, -0.05585945,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.22023833e-05, 1.06781552e-05,-4.90509868e+00,-7.19425546e-03,
 -1.20313771e-03, 9.12810244e-06]


--- 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,
  9.50777986e-02,-6.99081478e-02, 1.30418999e-01, 9.94952381e-01,
 -1.78132916e-04,-4.71094373e-04,-1.00346923e-01]

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,
  1.42344798e+00,-1.63221359e+00, 2.20634813e-01, 1.79938092e+01,
  2.73561623e+01,-1.10439261e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005970789347959915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16214013e-13, -9.29712103e-14,  1.00000000e+00, -1.08045574e-26,
        1.00000000e+00,  9.29712103e-14, -1.00000000e+00,  0.00000000e+00,
       -1.16214013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08486196, -0.0558583 ,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.31344665e-05,-1.23869493e-05,-4.90507835e+00,-7.18659356e-03,
 -1.20696856e-03, 5.90521873e-06]


--- 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,
  9.51044370e-02,-6.99050670e-02, 1.30422266e-01, 9.94943474e-01,
 -2.29048822e-04,-2.73925402e-04,-1.00435831e-01]

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,  1.40738999, -1.6040079 ,  0.06300504, 17.82052842,
  26.63638547, -1.21438069]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005930123457630609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63815333e-13, -4.68043807e-14,  1.00000000e+00,  7.66727520e-27,
        1.00000000e+00,  4.68043807e-14, -1.00000000e+00,  0.00000000e+00,
        1.63815333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08486339, -0.05585668,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.05249259e-05,-3.24172965e-05,-4.90508500e+00,-7.18118014e-03,
 -1.21412443e-03, 3.05329343e-06]


--- 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,
  9.51364412e-02,-6.99084467e-02, 1.30425285e-01, 9.94934267e-01,
 -2.38292989e-04,-2.97892822e-05,-1.00527338e-01]

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, 1.34145363,-1.6151013 ,
 -0.0618958 ,18.37152962,25.45775463,-1.30904168]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005864421747089302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05842662e-07,  9.05842736e-07,  1.00000000e+00,  8.20550995e-13,
        1.00000000e+00, -9.05842736e-07, -1.00000000e+00,  0.00000000e+00,
       -9.05842662e-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([ 0.08527119, -0.05557468,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.44276836e-05,-4.97160914e-05,-4.90511689e+00,-7.17800336e-03,
 -1.22449980e-03, 5.23204193e-07]


--- 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,
  9.51643463e-02,-6.99219040e-02, 1.30427650e-01, 9.94925524e-01,
 -1.67418217e-04, 1.94742672e-04,-1.00613795e-01]

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, -1.0247898 , -2.51942257, -0.16351785, 40.84204701,
  -5.72595133,  2.53241522]

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([  6.30177219,   6.00023507,   1.92600932,   6.00023507,
         9.93917806, -11.3318716 ,   1.92600932, -11.3318716 ,
        41.60476517,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005843426953907049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49975959e-14, -9.49975959e-14,  1.00000000e+00, -9.02454322e-27,
        1.00000000e+00,  9.49975959e-14, -1.00000000e+00,  0.00000000e+00,
       -9.49975959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10315568, -0.04743984,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.66322838e-06,-6.40740812e-05,-4.90517069e+00,-7.17711192e-03,
 -1.23787702e-03,-1.60727375e-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,
  9.51882396e-02,-6.99453093e-02, 1.30428751e-01, 9.94917192e-01,
 -1.83039626e-05, 3.99443772e-04,-1.00695683e-01]

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, -1.00292378, -2.48697222, -0.31606548, 39.91844787,
  -5.92954846,  2.29973826]

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([  6.2759722 ,  -5.77604574,  -2.45461254,  -5.77604574,
        15.35342513, -21.36051315,  -2.45461254, -21.36051315,
        56.54023961,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005812519634948582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91005467e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91005467e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10315827, -0.04744093,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.91807107e-05,-4.74226625e-05,-4.90515989e+00,-7.17954119e-03,
 -1.24865424e-03,-1.56509667e-08]


--- 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,
  9.52075818e-02,-6.99554503e-02, 1.30429721e-01, 9.94908438e-01,
  4.12706156e-05, 5.50608116e-04,-1.00781425e-01]

qacc:
[-5.31703475e+00, 1.35137736e+00,-7.71441657e+00, 1.93216442e+01,
  2.75927858e-01,-5.59557732e-01, 1.13294564e+00, 6.91514575e-01,
  1.12428476e+01,-1.05612589e+00, 5.66341473e+00,-1.41592091e+01,
  1.52793360e-01,-9.55364426e-01,-1.36117843e+00, 3.36116887e+00,
 -1.13779270e+00, 3.31605868e+00,-3.25653077e-02,-4.18460560e+01,
 -3.11403303e+01,-1.95738784e+00]

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([ 6.254884  , -0.7656402 , -6.20784737, -0.7656402 , 67.38835753,
       -7.53985106, -6.20784737, -7.53985106,  7.18480588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005787250436207064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.59197323e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.59197323e-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([ 0.10368535, -0.09521561,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.65031036e-05,-2.31817908e-05,-4.90518948e+00,-7.18692719e-03,
 -1.25917156e-03, 1.32037867e-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,
  9.52224532e-02,-6.99526331e-02, 1.30429704e-01, 9.94899208e-01,
  1.30195903e-05, 6.50700636e-04,-1.00871912e-01]

qacc:
[ -3.16686672,  3.82297606,-14.99460608, 23.92855887,  6.16243511,
  -2.87126418, 12.53188542,-24.50459165,  3.69381795, -0.27537089,
   0.18714874,  0.92249098, -0.53109615,  0.26990178,  0.80752558,
  -5.13407343, -1.11769384,  3.23953854, -0.24693842,-41.11435577,
 -29.83145603, -2.40702074]

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([ 6.29912364,  0.65383183,  6.26509877,  0.65383183, 41.8438197 ,
       -3.7094792 ,  6.26509877, -3.7094792 ,  6.68624852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005840254434348047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -1.900984e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  1.900984e-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([ 0.10367987, -0.09521484,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.75905032e-05,-2.96414649e-05,-4.90507347e+00,-7.18861834e-03,
 -1.27195943e-03,-6.12680129e-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,
  9.52329245e-02,-6.99371167e-02, 1.30427954e-01, 9.94889439e-01,
 -1.01591484e-04, 7.01730572e-04,-1.00967825e-01]

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, -1.10002796,  3.17482258, -0.43319134,-40.48348466,
 -28.76167472, -2.75452409]

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([ 6.30617885,  1.03032359,  6.22144074,  1.03032359, 51.42412973,
       -7.47191702,  6.22144074, -7.47191702,  7.54359196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005848705244200919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49118632e-14, -1.89823726e-13,  1.00000000e+00,  1.80165236e-26,
        1.00000000e+00,  1.89823726e-13, -1.00000000e+00,  0.00000000e+00,
        9.49118632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10367602, -0.09521568,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.89411865e-06,-2.28159228e-05,-4.90502707e+00,-7.18520819e-03,
 -1.28132919e-03,-1.03361661e-05]


--- 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,
  9.52390861e-02,-6.99321737e-02, 1.30427024e-01, 9.94880369e-01,
 -1.35778087e-04, 7.36496105e-04,-1.01056871e-01]

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 , -1.07743303, -2.64337477,  0.20495974, 40.82544482,
  -4.03109334,  3.47909438]

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([ 6.29616277,  0.05242259,  6.29594453,  0.05242259, 36.77166543,
       -0.25375143,  6.29594453, -0.25375143,  6.29827561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005836707722993995
  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([ 0.10317442, -0.04744666,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.82406300e-05,-3.01421826e-06,-4.90504520e+00,-7.17673537e-03,
 -1.28750425e-03,-1.15511450e-05]


--- 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,
  9.52410552e-02,-6.99375899e-02, 1.30426093e-01, 9.94871920e-01,
 -9.13256992e-05, 7.53989411e-04,-1.01139937e-01]

qacc:
[ 5.51107243e+00,-1.41145048e+00, 6.03119672e+00,-1.08566464e+01,
 -5.58752468e+00, 1.58281267e+00,-4.98356188e+00, 4.90371994e+00,
 -2.31131830e+00, 9.64131329e-01,-1.60551842e+00,-4.64543648e+00,
 -6.50061334e-01, 5.73224276e-01, 2.15047091e+00,-9.72483859e+00,
 -1.04811231e+00,-2.58976537e+00,-3.18899252e-04, 3.99887734e+01,
 -4.61902969e+00, 3.03321390e+00]

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([  6.32059196,  -2.89657107,  -5.61780729,  -2.89657107,
        42.16985192, -18.48406753,  -5.61780729, -18.48406753,
        15.85107468,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005865968163164398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.46325478e-14, -9.46325478e-14,  1.00000000e+00,  8.95531909e-27,
        1.00000000e+00,  9.46325478e-14, -1.00000000e+00,  0.00000000e+00,
        9.46325478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10317905, -0.04744828,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.62797853e-06,-4.02315910e-06,-4.90500500e+00,-7.17422640e-03,
 -1.28561556e-03,-1.11509492e-05]


--- 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,
  9.52349983e-02,-6.99362050e-02, 1.30425960e-01, 9.94863144e-01,
 -8.71863832e-05, 7.04784073e-04,-1.01226582e-01]

qacc:
[ 6.36488005e+00,-4.87926070e-01, 2.65779120e+00,-5.79442965e+00,
 -6.42085977e+00, 1.35618263e+00,-3.95379023e+00, 3.64344059e+00,
  1.75170260e+00,-1.66214131e-02, 1.38467283e+00,-6.22838475e+00,
 -9.38598152e-01, 1.08659283e+00, 2.44747568e+00,-9.88289438e+00,
 -2.00650460e+00, 1.70024610e+00, 1.99695659e-01,-1.66788892e+01,
 -3.52166480e+01,-1.81458195e+00]

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([ 6.32263161,  0.28036758, -6.31641231,  0.28036758, 55.38267433,
        2.1776358 , -6.31641231,  2.1776358 ,  6.41929067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005868410971624632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.45931556e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.45931556e-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([ 0.10978953, -0.08152422,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.23498927e-05, 3.35533341e-06,-4.90500627e+00,-7.17665106e-03,
 -1.28377210e-03,-1.08164331e-05]


--- 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,
  9.52242426e-02,-6.99332655e-02, 1.30428153e-01, 9.94854334e-01,
 -9.06855125e-05, 6.20793014e-04,-1.01313672e-01]

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 , -1.17469246,  0.38866086,  0.58148646, -2.03882884,
 -17.69009112, -0.22718523]

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([ 6.30691621, -2.80478511,  5.64892667, -2.80478511, 36.8283466 ,
       15.15439277,  5.64892667, 15.15439277, 13.83132175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005849588437562348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.48975331e-14,  1.78872075e-07,  1.00000000e+00, -1.69745187e-20,
        1.00000000e+00, -1.78872075e-07, -1.00000000e+00,  0.00000000e+00,
        9.48975331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342405, -0.07125747,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.12312475e-07, 1.91323242e-05,-4.90501085e+00,-7.17591761e-03,
 -1.28207166e-03,-1.04553858e-05]


--- 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,
  9.52094026e-02,-6.99404180e-02, 1.30429247e-01, 9.94846083e-01,
 -1.83246267e-05, 5.19592997e-04,-1.01395270e-01]

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,-1.02110046,-2.52299758,
 -0.27480826,38.60490476,-4.71779797, 2.78274822]

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([ 6.28263911e+00, -1.75186072e-02,  6.28261468e+00, -1.75186072e-02,
        2.70463352e+01,  5.78980335e-02,  6.28261468e+00,  5.78980335e-02,
        6.28280055e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005820507053878043
  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([ 0.10319275, -0.04744748,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.85616912e-06, 2.86408150e-05,-4.90502762e+00,-7.17557689e-03,
 -1.27707530e-03,-9.22733407e-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,
  9.51902056e-02,-6.99349888e-02, 1.30428383e-01, 9.94837280e-01,
 -3.30888822e-05, 3.68825419e-04,-1.01482264e-01]

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 , -1.08920999,  3.14542433, -0.48966597,-40.82369804,
 -29.07289259, -2.73527238]

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([ 6.27281883, -0.35491844, -6.26277007, -0.35491844, 56.68922531,
       -2.85715618, -6.26277007, -2.85715618,  6.43473718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005808741473194434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55648508e-14, -9.55648508e-14,  1.00000000e+00,  9.13264071e-27,
        1.00000000e+00,  9.55648508e-14, -1.00000000e+00,  0.00000000e+00,
        9.55648508e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365432, -0.09522013,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05544757e-05, 3.57909209e-05,-4.90505505e+00,-7.18062738e-03,
 -1.26846463e-03,-9.48045091e-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,
  9.51666926e-02,-6.99171758e-02, 1.30424953e-01, 9.94827849e-01,
 -1.33523768e-04, 1.70159440e-04,-1.01575114e-01]

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, -1.07903663,  3.09592738, -0.64130387,-40.18268012,
 -28.17237007, -2.96132597]

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([  6.24610772,   2.57739452,   5.68954297,   2.57739452,
        48.55656279, -19.1668708 ,   5.68954297, -19.1668708 ,
        14.92880649,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000577673208665308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20117980e-13, -9.60943842e-14,  1.00000000e+00, -1.15426633e-26,
        1.00000000e+00,  9.60943842e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20117980e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365144, -0.09522161,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.57496845e-06, 4.70066127e-05,-4.90508175e+00,-7.17948004e-03,
 -1.26219244e-03,-5.38821105e-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,
  9.51388470e-02,-6.99098788e-02, 1.30422030e-01, 9.94819049e-01,
 -1.55141609e-04,-4.48759998e-05,-1.01661364e-01]

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, -1.08313343, -2.62897334,  0.12663304, 40.03554159,
  -4.13996707,  3.32052005]

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([ 6.28295267,  0.17050093,  6.2806388 ,  0.17050093, 38.05020065,
       -0.86238763,  6.2806388 , -0.86238763,  6.30636396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005820882710311504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76827605e-14, -1.90731042e-13,  1.00000000e+00, -9.09458259e-27,
        1.00000000e+00,  1.90731042e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76827605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10320778, -0.04744773,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.94779749e-05, 7.15431574e-05,-4.90516884e+00,-7.17325831e-03,
 -1.25282714e-03, 1.54853150e-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,
  9.51067673e-02,-6.99128848e-02, 1.30418829e-01, 9.94810783e-01,
 -9.94306140e-05,-2.77422162e-04,-1.01741926e-01]

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,
 -1.05851547e+00,-2.57575181e+00,-6.94454420e-02, 3.93543507e+01,
 -4.77975213e+00, 2.85366334e+00]

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([  6.29501691,  -2.11749405,  -5.9281917 ,  -2.11749405,
        48.84252044, -15.19756617,  -5.9281917 , -15.19756617,
        11.72344392,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000583533511814921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.51293287e-14,  1.90258657e-13,  1.00000000e+00, -1.80991783e-26,
        1.00000000e+00, -1.90258657e-13, -1.00000000e+00,  0.00000000e+00,
        9.51293287e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321263, -0.04744824,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.27300391e-06, 6.43535067e-05,-4.90516036e+00,-7.17351085e-03,
 -1.23610882e-03, 5.74741132e-07]


--- 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,
  9.50805917e-02,-6.99227575e-02, 1.30417935e-01, 9.94802331e-01,
 -3.14212501e-06,-4.57791428e-04,-1.01823927e-01]

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 ,  1.4760036 , -1.71669086,  0.57677935, 17.52896665,
  28.01733208, -0.72846343]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005865898011564452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.46336795e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.46336795e-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([ 0.08490555, -0.05581808,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.42445364e-07, 6.60422599e-05,-4.90519371e+00,-7.17857052e-03,
 -1.21935030e-03,-3.88822902e-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,
  9.50602037e-02,-6.99393429e-02, 1.30418525e-01, 9.94793664e-01,
  1.33600651e-04,-5.87678544e-04,-1.01907816e-01]

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,  1.4469201 , -1.67816985,  0.37095325, 17.55143174,
  27.16944118, -0.95958435]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005891724023009554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42188585e-14, -1.88437717e-13,  1.00000000e+00,  1.77543866e-26,
        1.00000000e+00,  1.88437717e-13, -1.00000000e+00,  0.00000000e+00,
        9.42188585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08490801, -0.05581618,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -7.97655034e-06, 5.88478087e-05,-4.90514266e+00,-7.18644298e-03,
 -1.20752299e-03, 1.88587418e-06]


--- 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,
  9.50455036e-02,-6.99625136e-02, 1.30419887e-01, 9.94784747e-01,
  3.10664289e-04,-6.68480504e-04,-1.01993944e-01]

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,  1.42195613, -1.64630082,  0.19306691, 17.55374734,
  26.46908367, -1.14094803]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005880218133875598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72016088e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.72016088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08490941, -0.05581401,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.86378644e-05, 5.48675866e-05,-4.90512036e+00,-7.19648755e-03,
 -1.19895558e-03, 4.39436508e-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,
  9.50380832e-02,-6.99866701e-02, 1.30423003e-01, 9.94775968e-01,
  4.86760985e-04,-6.96728534e-04,-1.02078655e-01]

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,  1.819936  , -0.24647218,  0.43850389, -3.16058884,
  26.09087975,  0.70355604]

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([ 6.30575788, -0.82097756, -6.25208591, -0.82097756, 48.33316174,
       -5.51872704, -6.25208591, -5.51872704,  7.03043619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005848201016521865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74600232e-14, -9.49200465e-14,  1.00000000e+00,  4.50490761e-27,
        1.00000000e+00,  9.49200465e-14, -1.00000000e+00,  0.00000000e+00,
        4.74600232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226053, -0.06696406,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.27906297e-05, 5.37764568e-05,-4.90512486e+00,-7.20872304e-03,
 -1.19354986e-03, 7.12670795e-06]


--- 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,
  9.50389747e-02,-7.00040606e-02, 1.30426823e-01, 9.94768034e-01,
  6.06150514e-04,-6.72892122e-04,-1.02155462e-01]

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,  2.07796734,  1.6915015 ,  0.17603169,-30.86127117,
  23.01409787,  3.98156712]

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([ 6.31008734e+00,  1.39382983e-02, -6.31007195e+00,  1.39382983e-02,
        4.60057992e+01,  8.76837347e-02, -6.31007195e+00,  8.76837347e-02,
        6.31028103e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005853386699561068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27296730e-07, -7.27296877e-07,  1.00000000e+00, -5.28960640e-13,
        1.00000000e+00,  7.27296877e-07, -1.00000000e+00,  0.00000000e+00,
       -7.27296730e-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([ 0.07983014, -0.08236489,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.98176502e-05, 4.00689912e-05,-4.90510238e+00,-7.22061430e-03,
 -1.19323849e-03, 1.01293096e-05]


--- 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,
  9.50353923e-02,-7.00086085e-02, 1.30429256e-01, 9.94759666e-01,
  6.39623900e-04,-6.99643602e-04,-1.02236529e-01]

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 , -1.11847577,  3.21063771, -0.34701891,-40.15070261,
 -29.55144724, -2.09615695]

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([ 6.32668513,  6.13053823, -1.56315249,  6.13053823,  9.32771251,
       11.76974937, -1.56315249, 11.76974937, 52.48654398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005873265653382059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.45149675e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.45149675e-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([ 0.1036155 , -0.09522568,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.02138222e-05, 1.25734148e-05,-4.90504562e+00,-7.22852969e-03,
 -1.19822991e-03, 1.14384698e-05]


--- 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,
  9.50273932e-02,-7.00005642e-02, 1.30429608e-01, 9.94750799e-01,
  5.88376704e-04,-7.75162998e-04,-1.02322535e-01]

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, -1.10415579,  3.1480832 , -0.52005018,-39.64694652,
 -28.58870189, -2.43733051]

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([ 6.31506619,  0.25516048,  6.3099092 ,  0.25516048, 56.28750409,
       -2.0207884 ,  6.3099092 , -2.0207884 ,  6.39678295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005859350003879354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.47394356e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.47394356e-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([ 0.1036121 , -0.09522802,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.92017317e-06, 1.33543709e-05,-4.90500751e+00,-7.22974524e-03,
 -1.19960223e-03, 1.06139264e-05]


--- 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,
  9.50279593e-02,-6.99861461e-02, 1.30430055e-01, 9.94742771e-01,
  4.81514461e-04,-7.92531979e-04,-1.02400970e-01]

qacc:
[ 7.90311258e+00, 7.70489976e-01,-4.76112516e+00, 1.24690082e+01,
 -4.44139849e-01, 1.05858648e+00,-5.11014504e+00, 1.17359703e+01,
  3.80760480e+00,-1.66617026e+00, 5.87204147e+00,-7.83456367e+00,
 -2.87152445e-01,-1.77451496e-01,-4.67509327e+00, 1.39975773e+01,
  2.14128954e+00, 1.59342796e+00, 2.38071481e-02,-3.06339179e+01,
  2.60798022e+01, 3.81280956e+00]

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([ 6.29774397, -5.1068078 ,  3.68538916, -5.1068078 , 17.77210979,
       15.89991673,  3.68538916, 15.89991673, 28.33010341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005838601791732234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91338477e-14,  1.90152208e-13,  1.00000000e+00,  1.69489980e-26,
        1.00000000e+00, -1.90152208e-13, -1.00000000e+00,  0.00000000e+00,
       -8.91338477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07896929, -0.08189574,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.32495590e-05, 2.69974065e-05,-4.90503076e+00,-7.22599293e-03,
 -1.19773923e-03, 1.27132282e-05]


--- 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,
  9.50369553e-02,-6.99654262e-02, 1.30429967e-01, 9.94735523e-01,
  3.20515268e-04,-7.52609502e-04,-1.02472290e-01]

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,  2.10746331,  1.5754478 , -0.13370088,-29.85688861,
  25.72531587,  3.58686345]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005810198939461969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.55408787e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.55408787e-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([ 0.07896813, -0.08189417,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.64464587e-05, 1.48830337e-05,-4.90503738e+00,-7.22053632e-03,
 -1.19809838e-03, 1.26763175e-05]


--- 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,
  9.50531002e-02,-6.99456636e-02, 1.30431344e-01, 9.94728400e-01,
  1.59254769e-04,-6.57246173e-04,-1.02542447e-01]

qacc:
[ -5.90654071, -0.17941045,  1.87834685, -6.15618594, -2.16793838,
   0.30610488, -0.10319004, -3.25631227, -3.51224401,  2.83061705,
 -13.15726691, 26.7728308 , -1.40344575,  1.72465417,  2.12750495,
  -8.04292764,  1.78724968, -0.23933192,  0.36605347, -2.97012314,
  27.56133798,  0.57574665]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000576911506832159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62212585e-14, -1.92442517e-13,  1.00000000e+00,  1.85170612e-26,
        1.00000000e+00,  1.92442517e-13, -1.00000000e+00,  0.00000000e+00,
        9.62212585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226487, -0.06695428,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.19406522e-05, 9.55262289e-06,-4.90508365e+00,-7.21126595e-03,
 -1.20122295e-03, 1.01954272e-05]


--- 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,
  9.50748993e-02,-6.99324549e-02, 1.30433597e-01, 9.94721026e-01,
  3.99453298e-05,-5.10824730e-04,-1.02614897e-01]

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,  1.41352331, -1.63845094,  0.21918515, 18.24640949,
  27.5450955 , -1.17107751]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005761349026402046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63509605e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.63509605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08492828, -0.05580248,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.63702626e-05,-3.62320897e-06,-4.90510461e+00,-7.20166085e-03,
 -1.20618632e-03, 6.29843473e-06]


--- 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,
  9.51022931e-02,-6.99256915e-02, 1.30436118e-01, 9.94713373e-01,
 -3.79861613e-05,-3.14794488e-04,-1.02689852e-01]

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,  1.39869228, -1.61134273,  0.06683927, 18.03382273,
  26.79633302, -1.27172745]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005736054515111666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83879216e-14,  9.67758432e-14,  1.00000000e+00,  4.68278191e-27,
        1.00000000e+00, -9.67758432e-14, -1.00000000e+00,  0.00000000e+00,
       -4.83879216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08493012, -0.05580148,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.67381935e-05,-2.37264685e-05,-4.90510364e+00,-7.19438969e-03,
 -1.21333294e-03, 3.02033797e-06]


--- 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,
  9.51352337e-02,-6.99252830e-02, 1.30438382e-01, 9.94705403e-01,
 -7.50267690e-05,-7.03113867e-05,-1.02767464e-01]

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,  1.38668762, -1.58870958, -0.06437655, 17.8491215 ,
  26.1978945 , -1.3433807 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005685576676263682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76350411e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.76350411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08493105, -0.05580005,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.35284930e-05,-4.10476939e-05,-4.90512845e+00,-7.18938738e-03,
 -1.22371534e-03, 8.89947858e-08]


--- 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,
  9.51640151e-02,-6.99349871e-02, 1.30440102e-01, 9.94697881e-01,
 -3.20216678e-05, 1.54133667e-04,-1.02840174e-01]

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, -1.03979236, -2.52817332, -0.13569231, 40.84076883,
  -5.85309827,  2.45733917]

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([  6.12497617,   5.86996718,   1.74894779,   5.86996718,
         9.86683341, -12.55873926,   1.74894779, -12.55873926,
        48.27568406,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005631375624268048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.9287381e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.9287381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326612, -0.04746444,  0.0619826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.79299072e-06,-5.58124149e-05,-4.90517766e+00,-7.18663598e-03,
 -1.23724832e-03,-2.53865520e-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,
  9.51881052e-02,-6.99430332e-02, 1.30444319e-01, 9.94690356e-01,
  5.47244156e-06, 3.41210441e-04,-1.02912488e-01]

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, -1.17281575,  0.41450919,  0.62417286, -0.81943636,
 -18.86845671,  0.19607599]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005616251276880867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88402201e-14,  9.29514582e-07,  1.00000000e+00, -9.18734258e-20,
        1.00000000e+00, -9.29514582e-07, -1.00000000e+00,  0.00000000e+00,
        9.88402201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342745, -0.07128274,  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:
[ 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,
 -2.44766123e-05,-4.33976244e-05,-4.90515194e+00,-7.18736231e-03,
 -1.24829437e-03,-9.38903363e-07]


--- 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,
  9.52078622e-02,-6.99383810e-02, 1.30446687e-01, 9.94682332e-01,
 -4.28272221e-05, 4.78639849e-04,-1.02989448e-01]

qacc:
[ 1.55628497e+00,-1.37459514e+00, 6.26478887e+00,-1.31594271e+01,
  6.59410686e+00,-1.39134834e+00, 4.28068591e+00,-3.07639479e+00,
  4.62124296e+00,-1.36767687e+00, 3.17708962e+00, 1.77871825e-02,
 -4.36629422e-02,-3.87438366e-01,-4.18459308e-01,-1.72244521e+00,
 -1.08329175e+00, 3.17459273e+00,-4.62442239e-01,-4.01136585e+01,
 -2.91064310e+01,-2.35110771e+00]

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([ 6.12376727, -0.64853873, -6.08932862, -0.64853873, 31.37038086,
       -2.68886895, -6.08932862, -2.68886895,  6.41014295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005629922806218018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86001996e-14, -9.86001996e-14,  1.00000000e+00,  9.72199936e-27,
        1.00000000e+00,  9.86001996e-14, -1.00000000e+00,  0.00000000e+00,
        9.86001996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358281, -0.09525523,  0.0619826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.96278162e-05,-3.55421061e-05,-4.90510433e+00,-7.18780883e-03,
 -1.26006476e-03,-3.94591842e-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,
  9.52233426e-02,-6.99212430e-02, 1.30446598e-01, 9.94673746e-01,
 -1.75815201e-04, 5.68211627e-04,-1.03071752e-01]

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,
 -1.06914844e+00, 3.12143110e+00,-6.13932247e-01,-3.96533035e+01,
 -2.81623222e+01,-2.70753699e+00]

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([ 6.1095828 ,  0.93141016,  6.03816835,  0.93141016, 56.78835303,
       -7.81739077,  6.03816835, -7.81739077,  7.3154447 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005612872454713869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88997197e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.88997197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357947, -0.09525723,  0.06198266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.24192828e-05,-2.89922475e-05,-4.90505854e+00,-7.18314206e-03,
 -1.27107334e-03,-8.99251711e-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,
  9.52345202e-02,-6.99145666e-02, 1.30447030e-01, 9.94665798e-01,
 -2.28760099e-04, 6.40151651e-04,-1.03147895e-01]

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 , -1.07569574, -2.61539141,  0.13012402, 40.71534941,
  -4.64455452,  3.11794025]

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([ 6.15736179,  0.08212567,  6.15681407,  0.08212567, 40.61277129,
       -0.45960028,  6.15681407, -0.45960028,  6.16349239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005670277608444685
  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([ 0.10327912, -0.04747133,  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:
[-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,
  4.17448987e-05,-1.00750186e-05,-4.90507467e+00,-7.17351529e-03,
 -1.27897300e-03,-1.11719109e-05]


--- 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,
  9.52415037e-02,-6.99181552e-02, 1.30447223e-01, 9.94658431e-01,
 -2.03400466e-04, 6.93715277e-04,-1.03218616e-01]

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,-1.04851519,-2.56625741,
 -0.05994055,39.88949441,-5.101519  , 2.74925098]

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([  6.18126239,  -3.51627011,  -5.08368461,  -3.51627011,
        43.46575677, -25.78884477,  -5.08368461, -25.78884477,
        24.01882531,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000569896670380321
  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([ 0.10328284, -0.04747302,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.37362907e-05,-1.25574575e-05,-4.90502076e+00,-7.16956103e-03,
 -1.27968628e-03,-1.05300605e-05]


--- 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,
  9.52443841e-02,-6.99318426e-02, 1.30446517e-01, 9.94651583e-01,
 -1.01187667e-04, 7.28344729e-04,-1.03284497e-01]

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, -1.02578808, -2.52470559, -0.2246541 , 39.19687812,
  -5.45085207,  2.45845672]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005691370218006836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87678266e-14, -1.95071307e-13,  1.00000000e+00,  9.51320366e-27,
        1.00000000e+00,  1.95071307e-13, -1.00000000e+00,  0.00000000e+00,
        4.87678266e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10328617, -0.0474733 ,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.84065191e-06,-6.89151092e-06,-4.90500829e+00,-7.17054149e-03,
 -1.28033091e-03,-9.99455990e-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,
  9.52432369e-02,-6.99554899e-02, 1.30444343e-01, 9.94645186e-01,
  7.66789118e-05, 7.43622193e-04,-1.03345997e-01]

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,-1.00691525,-2.48996415,
 -0.36692198,38.62238363,-5.71769662, 2.22925199]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005654682417009088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81684684e-14, -1.96336937e-13,  1.00000000e+00,  1.92740964e-26,
        1.00000000e+00,  1.96336937e-13, -1.00000000e+00,  0.00000000e+00,
        9.81684684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10328921, -0.04747247,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.36555202e-05, 6.45711020e-06,-4.90503520e+00,-7.17637287e-03,
 -1.28076778e-03,-9.58916982e-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,
  9.52375672e-02,-6.99659111e-02, 1.30442068e-01, 9.94638183e-01,
  1.63209271e-04, 7.07813997e-04,-1.03413525e-01]

qacc:
[ 1.87705028e+00, 8.48833698e-01,-3.26877930e+00, 4.31032934e+00,
 -1.91177381e+00, 1.73411380e+00,-8.99051481e+00, 2.02465936e+01,
  7.26453960e-01, 8.01987282e-01,-4.46903710e+00, 1.08076941e+01,
 -8.14470655e-01, 7.93517019e-01, 4.17115421e+00,-1.59871996e+01,
 -1.13059410e+00, 3.30651907e+00,-2.51304200e-02,-4.27815519e+01,
 -3.01256754e+01,-3.06177085e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005753202757864118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64873890e-14, -9.64873890e-14,  1.00000000e+00,  9.30981623e-27,
        1.00000000e+00,  9.64873890e-14, -1.00000000e+00,  0.00000000e+00,
        9.64873890e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10356049, -0.09525452,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.42010993e-05, 2.71740522e-05,-4.90509989e+00,-7.18698438e-03,
 -1.28089378e-03,-9.32705492e-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,
  9.52274533e-02,-6.99633993e-02, 1.30438836e-01, 9.94630549e-01,
  1.60478227e-04, 6.22857722e-04,-1.03487473e-01]

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, -1.11106447,  3.23327597, -0.239478  ,-41.8477883 ,
 -29.0579971 , -3.25299206]

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([  6.27429214,   2.68066233,   5.67281159,   2.68066233,
        46.254452  , -18.89244984,   5.67281159, -18.89244984,
        15.20183676,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005810506720972664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91071636e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91071636e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355675, -0.09525242,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.46797384e-05, 1.80679480e-05,-4.90502963e+00,-7.19168710e-03,
 -1.28141489e-03,-1.07420312e-05]


--- 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,
  9.52129620e-02,-6.99482034e-02, 1.30433899e-01, 9.94622239e-01,
  7.02399669e-05, 4.90333991e-04,-1.03568122e-01]

qacc:
[-7.19961723e+00,-1.73077951e-01,-1.87211596e+00, 1.02690140e+01,
  1.23186919e+00,-1.61368538e+00, 8.23314561e+00,-1.85128455e+01,
  6.39596410e+00,-6.30098525e-01,-3.40611540e-02, 6.02875241e+00,
  3.00955155e-02,-6.76082110e-01,-1.21841239e-01,-3.79425046e+00,
 -1.09434714e+00, 3.17099533e+00,-4.26191884e-01,-4.10552169e+01,
 -2.81843002e+01,-3.39023255e+00]

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([  6.28454335,   3.04700983,   5.49647306,   3.04700983,
        52.99781018, -25.89583934,   5.49647306, -25.89583934,
        20.6400903 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005822788364323594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.53343102e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.53343102e-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([ 0.10355424, -0.09525221,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.26700611e-06, 2.38433163e-05,-4.90502735e+00,-7.19109982e-03,
 -1.27878039e-03,-9.02963370e-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,
  9.51941497e-02,-6.99205334e-02, 1.30426608e-01, 9.94613189e-01,
 -1.06036872e-04, 3.11524296e-04,-1.03655662e-01]

qacc:
[ -1.35084839, -0.25400227,  0.72266448, -0.77051499,  0.75982336,
  -2.55200219,  8.59173323, -9.53297904,  6.91834852, -0.79785495,
   3.21998837, -6.11085118,  0.37449717, -1.39927459, -2.26317046,
   4.73924234, -1.08025748,  3.11852051, -0.58836255,-40.38935144,
 -27.47401268, -3.48545587]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00057986904738562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57304955e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.57304955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355272, -0.09525351,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.74300317e-05, 4.36974508e-05,-4.90508829e+00,-7.18531115e-03,
 -1.27313212e-03,-4.40774502e-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,
  9.51708119e-02,-6.99037170e-02, 1.30421176e-01, 9.94604836e-01,
 -2.00744393e-04, 1.16180269e-04,-1.03736044e-01]

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, -1.13135206, -2.71338008,  0.46443763, 41.42082019,
  -3.99555915,  3.60792905]

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([ 6.27223877,  0.17939389,  6.2696728 ,  0.17939389, 42.37456463,
       -1.03299438,  6.2696728 , -1.03299438,  6.30179579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005808046470562322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55762863e-14, -9.55762863e-14,  1.00000000e+00,  9.13482650e-27,
        1.00000000e+00,  9.55762863e-14, -1.00000000e+00,  0.00000000e+00,
        9.55762863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033105 , -0.0474788 ,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.13951488e-05, 7.69195160e-05,-4.90520882e+00,-7.17439749e-03,
 -1.26457742e-03, 2.95849390e-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,
  9.51430726e-02,-6.98974883e-02, 1.30416631e-01, 9.94597089e-01,
 -2.15806192e-04,-9.68758416e-05,-1.03810285e-01]

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, -1.10040637, -2.64692304,  0.2219237 , 40.52640567,
  -4.67784796,  3.0881354 ]

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([  6.33556366,  -2.14338806,  -5.96198411,  -2.14338806,
        42.08310615, -12.85156993,  -5.96198411, -12.85156993,
        10.95582111,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005883898669115373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71720830e-14, -3.77376664e-13,  1.00000000e+00,  1.78016433e-26,
        1.00000000e+00,  3.77376664e-13, -1.00000000e+00,  0.00000000e+00,
        4.71720830e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10331508, -0.04748144,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.44434948e-05, 6.07722637e-05,-4.90515929e+00,-7.17009430e-03,
 -1.24839342e-03, 1.91576653e-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,
  9.51110333e-02,-6.99016208e-02, 1.30412130e-01, 9.94589855e-01,
 -1.52856276e-04,-3.28552894e-04,-1.03879201e-01]

qacc:
[-2.89855217e+00, 1.65363141e+00,-6.38153384e+00, 9.20641822e+00,
  2.07216779e+00, 5.03425086e+00,-2.15943649e+01, 4.16924006e+01,
 -6.54872352e+00, 1.98810582e+00,-1.00294081e+01, 2.16212965e+01,
 -1.36936477e+00, 1.90469364e+00, 6.53899456e+00,-2.45991633e+01,
 -1.07498200e+00,-2.59030513e+00, 1.10835746e-02, 3.97619491e+01,
 -5.21150806e+00, 2.66916763e+00]

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([  6.35859412,  -2.48502449,  -5.85289437,  -2.48502449,
        51.48545392, -19.15998221,  -5.85289437, -19.15998221,
        14.49354789,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005911478865886083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69520001e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.69520001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10331913, -0.04748241,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.30096999e-06, 5.41959730e-05,-4.90515496e+00,-7.17074068e-03,
 -1.23228576e-03, 9.23506010e-07]


--- 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,
  9.50849191e-02,-6.99126737e-02, 1.30410255e-01, 9.94582405e-01,
 -4.83888768e-05,-5.08082297e-04,-1.03949891e-01]

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,  1.48127916, -1.73012452,  0.65653273, 17.93759718,
  28.08926382, -0.89629331]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005958708717714867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65798496e-14, -9.31596993e-14,  1.00000000e+00,  4.33936479e-27,
        1.00000000e+00,  9.31596993e-14, -1.00000000e+00,  0.00000000e+00,
        4.65798496e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08497819, -0.05577286,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.04087805e-07, 5.64425599e-05,-4.90519307e+00,-7.17625710e-03,
 -1.21605581e-03,-8.13528049e-08]


--- 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,
  9.50646050e-02,-6.99304884e-02, 1.30410130e-01, 9.94574711e-01,
  9.73076756e-05,-6.37160324e-04,-1.04022735e-01]

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, 1.45001293,-1.69042674,
  0.43723278,17.8801348 ,27.23189875,-1.09326716]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000599184005402903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63222906e-14, -4.63222906e-14,  1.00000000e+00,  2.14575461e-27,
        1.00000000e+00,  4.63222906e-14, -1.00000000e+00,  0.00000000e+00,
        4.63222906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08498053, -0.05577145,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.75578856e-06, 5.18747202e-05,-4.90514527e+00,-7.18449727e-03,
 -1.20448832e-03, 2.27326415e-06]


--- 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,
  9.50499836e-02,-6.99549330e-02, 1.30410994e-01, 9.94566743e-01,
  2.83966152e-04,-7.17189502e-04,-1.04098028e-01]

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, 1.42319465,-1.65747977,
  0.24763245,17.81798263,26.521652  ,-1.24752791]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005984808399605301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27534309e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.27534309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08498182, -0.05576965,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.53526661e-05, 5.04040058e-05,-4.90512647e+00,-7.19496352e-03,
 -1.19618440e-03, 4.88688476e-06]


--- 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,
  9.50426511e-02,-6.99804544e-02, 1.30413820e-01, 9.94558897e-01,
  4.70569066e-04,-7.44300439e-04,-1.04172093e-01]

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,
  1.82219550e+00,-2.69185593e-01, 4.90200527e-01,-2.78154991e+00,
  2.63126874e+01, 6.09506020e-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([ 6.39122286, -0.94440272, -6.32106266, -0.94440272, 53.21779938,
       -6.99615693, -6.32106266, -6.99615693,  7.43648851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00059505532479438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.16156272e-07, -6.16156384e-07,  1.00000000e+00, -3.79648621e-13,
        1.00000000e+00,  6.16156384e-07, -1.00000000e+00,  0.00000000e+00,
       -6.16156272e-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([ 0.08231821, -0.06677391,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.85150918e-05, 5.17354608e-05,-4.90513465e+00,-7.20766319e-03,
 -1.19104602e-03, 7.74187663e-06]


--- 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,
  9.50441368e-02,-6.99994606e-02, 1.30417446e-01, 9.94551923e-01,
  6.02044807e-04,-7.14835836e-04,-1.04238182e-01]

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,
  2.20456796e+00, 1.62878556e+00, 2.00104015e-01,-3.03576437e+01,
  2.52646982e+01, 4.01917506e+00]

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([ 6.39519548, -0.39591697, -6.3829284 , -0.39591697, 51.19822101,
       -2.77901879, -6.3829284 , -2.77901879,  6.56757102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005955310846239292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33032132e-14, -9.32128526e-14,  1.00000000e+00,  2.17215897e-27,
        1.00000000e+00,  9.32128526e-14, -1.00000000e+00,  0.00000000e+00,
        2.33032132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07893736, -0.08182878,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.60917034e-05, 4.01345976e-05,-4.90511377e+00,-7.22007660e-03,
 -1.19082635e-03, 1.08726309e-05]


--- 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,
  9.50411536e-02,-7.00055333e-02, 1.30419937e-01, 9.94544446e-01,
  6.46557046e-04,-7.35549196e-04,-1.04309088e-01]

qacc:
[  5.59318717,  0.36036901, -4.93009417, 19.02208948, -4.27974899,
  -0.11568966,  0.59431382, -2.95337883, -4.28444356, -1.05046729,
   5.11463812,-10.21334737, -0.21732896, -0.25823351, -0.88613371,
   2.15026504, -1.11723206,  3.23338927, -0.28382273,-40.63119926,
 -29.48638362, -2.37569076]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005956639041037187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.31920683e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.31920683e-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([ 0.10351937, -0.09525424,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.92843147e-05, 1.33339821e-05,-4.90505595e+00,-7.22864661e-03,
 -1.19595556e-03, 1.23463831e-05]


--- 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,
  9.50342463e-02,-6.99991214e-02, 1.30420824e-01, 9.94536461e-01,
  6.06098843e-04,-8.00752590e-04,-1.04384956e-01]

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, -0.98100672,  3.12113264, -0.400992  ,-39.93474408,
 -26.55704336, -2.44830788]

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([ 6.38953866, -0.47584902,  6.37179504, -0.47584902, 60.65846815,
        4.0528323 ,  6.37179504,  4.0528323 ,  6.69220631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005948536275313301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14099977e-06, -1.14099965e-06,  1.00000000e+00,  1.30188034e-12,
        1.00000000e+00,  1.14099965e-06, -1.00000000e+00, -2.01948392e-28,
        1.14099977e-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([ 0.10251688, -0.09471004,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.44859068e-06, 1.07929395e-05,-4.90500881e+00,-7.23064705e-03,
 -1.19736874e-03, 1.11485574e-05]


--- 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,
  9.50359356e-02,-6.99863522e-02, 1.30421841e-01, 9.94529314e-01,
  5.10488139e-04,-8.07552693e-04,-1.04453482e-01]

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,  2.1491392 ,  1.58932094,  0.03274486,-30.47111372,
  26.16611596,  3.69907051]

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([ 6.38154486, -5.13438494,  3.78975014, -5.13438494, 19.15170723,
       17.30112196,  3.78975014, 17.30112196, 29.82124848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005938963176984613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40204147e-13, -9.34694316e-14,  1.00000000e+00,  1.31048020e-26,
        1.00000000e+00,  9.34694316e-14, -1.00000000e+00,  0.00000000e+00,
        1.40204147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07893307, -0.08182324,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.45645552e-06, 2.04194751e-05,-4.90502202e+00,-7.22769780e-03,
 -1.19582266e-03, 1.28020568e-05]


--- 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,
  9.50460834e-02,-6.99673031e-02, 1.30422346e-01, 9.94522949e-01,
  3.61143830e-04,-7.56847527e-04,-1.04515077e-01]

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,  2.114623  ,  1.56997605, -0.12831698,-29.72053696,
  25.79109126,  3.49432123]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005904840848375836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.40095638e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.40095638e-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([ 0.07893183, -0.08182206,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.11210554e-05, 9.68669459e-06,-4.90502886e+00,-7.22274230e-03,
 -1.19663307e-03, 1.25835027e-05]


--- 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,
  9.50640702e-02,-6.99455297e-02, 1.30423383e-01, 9.94517001e-01,
  1.84649941e-04,-6.49906729e-04,-1.04572838e-01]

qacc:
[  0.7331286 ,  0.29475184, -1.45148872,  2.01315228, -5.18246582,
  -1.18153186,  5.59477704, -9.90717842,  4.24166408, -1.28229582,
   4.41388284, -6.75718401, -0.55889349,  0.30411225, -0.50296894,
  -1.50427274,  1.95974406,  0.68110351,  0.13322392,-16.43779982,
  26.54589426,  1.92867049]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005844438800233168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.47578483e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.47578483e-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([ 0.08062764, -0.07427948,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.51893835e-05, 5.58822213e-06,-4.90507529e+00,-7.21399609e-03,
 -1.20023541e-03, 9.92676836e-06]


--- 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,
  9.50877207e-02,-6.99303599e-02, 1.30425485e-01, 9.94510769e-01,
  5.05728731e-05,-4.92168783e-04,-1.04633099e-01]

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 , 1.41592268,-1.65093647,
  0.26601262,18.43533714,27.47681371,-1.27663978]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005832141945592562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.51814132e-14, -9.51814132e-14,  1.00000000e+00,  9.05950142e-27,
        1.00000000e+00,  9.51814132e-14, -1.00000000e+00,  0.00000000e+00,
        9.51814132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08499753, -0.05575878,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.58708403e-05, 4.76060678e-07,-4.90512856e+00,-7.20318469e-03,
 -1.20632514e-03, 5.43505463e-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,
  9.51169702e-02,-6.99216798e-02, 1.30428007e-01, 9.94504228e-01,
 -4.17379645e-05,-2.85030851e-04,-1.04696028e-01]

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,
  1.39975785e+00,-1.62239905e+00, 1.05224265e-01, 1.81833977e+01,
  2.67493312e+01,-1.35413501e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005809762009564706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.5548064e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.5548064e-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([ 0.08499916, -0.05575793,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.81152393e-05,-1.90290028e-05,-4.90512705e+00,-7.19478611e-03,
 -1.21428535e-03, 1.86404769e-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,
  9.51517664e-02,-6.99193937e-02, 1.30430396e-01, 9.94497345e-01,
 -9.28342329e-05,-2.96096290e-05,-1.04761740e-01]

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,
  1.38666626e+00,-1.59850086e+00,-3.32479938e-02, 1.79660935e+01,
  2.61664788e+01,-1.40714442e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005760592457878244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81818074e-14,  9.63636147e-14,  1.00000000e+00, -4.64297312e-27,
        1.00000000e+00, -9.63636147e-14, -1.00000000e+00,  0.00000000e+00,
        4.81818074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0849999, -0.0557566,  0.0619822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.67044235e-05,-3.57708827e-05,-4.90515144e+00,-7.18868227e-03,
 -1.22546658e-03,-1.35065167e-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,
  9.51823463e-02,-6.99272827e-02, 1.30432493e-01, 9.94490887e-01,
 -6.38292892e-05, 2.05035206e-04,-1.04822852e-01]

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,
 -1.05405551e+00,-2.54379495e+00,-7.32486987e-02, 4.09185950e+01,
 -6.13546727e+00, 2.30791094e+00]

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([  6.20233046,   5.96076754,   1.71410431,   5.96076754,
        10.3963291 , -14.58455641,   1.71410431, -14.58455641,
        56.91986857,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005724242979603944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93951065e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93951065e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10336571, -0.04749619,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17117045e-05,-4.99651728e-05,-4.90520032e+00,-7.18484909e-03,
 -1.23978789e-03,-4.25490769e-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,
  9.52088028e-02,-6.99451987e-02, 1.30433646e-01, 9.94484822e-01,
  4.34457240e-05, 4.18845260e-04,-1.04879748e-01]

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,
 -1.03086775e+00,-2.50673677e+00,-2.35924039e-01, 4.00109967e+01,
 -6.25792869e+00, 2.12433090e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000571721894077476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.85473373e-14, -9.70946745e-14,  1.00000000e+00, -4.71368791e-27,
        1.00000000e+00,  9.70946745e-14, -1.00000000e+00,  0.00000000e+00,
       -4.85473373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10336761, -0.04749754,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.78679824e-05,-3.98624541e-05,-4.90516487e+00,-7.18464320e-03,
 -1.25176948e-03,-2.57238211e-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,
  9.52308035e-02,-6.99499484e-02, 1.30434336e-01, 9.94478164e-01,
  6.12178242e-05, 5.82049745e-04,-1.04942078e-01]

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,
 -1.11393622e+00, 3.29157721e+00,-1.15645088e-01,-4.18497440e+01,
 -2.98567515e+01,-2.75079812e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005772059538619728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.61721737e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.61721737e-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([ 0.10349145, -0.09527828,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.13571966e-05,-2.20634938e-05,-4.90517085e+00,-7.18940656e-03,
 -1.26340901e-03,-1.16233986e-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,
  9.52484330e-02,-6.99418161e-02, 1.30433752e-01, 9.94470880e-01,
 -8.80310495e-06, 6.96598770e-04,-1.05010397e-01]

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, -1.09281293,  3.22049773, -0.31845904,-41.09936093,
 -28.79998926, -3.0347812 ]

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([  6.27363096,   1.50336672,   6.09084016,   1.50336672,
        54.7602903 , -11.96768068,   6.09084016, -11.96768068,
         9.22754411,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005809714528648285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.55488449e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.55488449e-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([ 0.10348783, -0.09527775,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.02255197e-05,-2.78945758e-05,-4.90507707e+00,-7.18884586e-03,
 -1.27579011e-03,-8.27248359e-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,
  9.52617647e-02,-6.99210417e-02, 1.30431190e-01, 9.94462923e-01,
 -1.65168115e-04, 7.64091126e-04,-1.05085126e-01]

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, -1.07444233,  3.16052098, -0.49449603,-40.4603879 ,
 -27.93149358, -3.25342323]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806245271515326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56059357e-14, -9.56059357e-14,  1.00000000e+00,  9.14049495e-27,
        1.00000000e+00,  9.56059357e-14, -1.00000000e+00,  0.00000000e+00,
        9.56059357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348542, -0.09527879,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.81089625e-05,-1.99891900e-05,-4.90505051e+00,-7.18312247e-03,
 -1.28502439e-03,-1.22982050e-05]


--- 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,
  9.52706721e-02,-6.99109444e-02, 1.30429978e-01, 9.94455631e-01,
 -2.40245496e-04, 8.13535498e-04,-1.05153595e-01]

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, -1.10606576, -2.66928602,  0.33743059, 41.36471758,
  -4.70373617,  3.17779545]

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([ 6.30103549,  0.156275  ,  6.29909727,  0.156275  , 44.50141681,
       -0.94771746,  6.29909727, -0.94771746,  6.32454752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005842544514466641
  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([ 0.10337972, -0.04750544,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.44952295e-05, 1.16473056e-06,-4.90508673e+00,-7.17229384e-03,
 -1.29126930e-03,-1.34440483e-05]


--- 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,
  9.52752787e-02,-6.99112883e-02, 1.30429222e-01, 9.94448946e-01,
 -2.35974350e-04, 8.44228959e-04,-1.05216560e-01]

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 ,-1.0752238 ,-2.61028587,
  0.11396847,40.43799194,-5.15249188, 2.79850899]

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([  6.34519509,  -3.27722211,  -5.43335218,  -3.27722211,
        44.68895201, -23.12771262,  -5.43335218, -23.12771262,
        20.29508247,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005895432981377069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.41595832e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.41595832e-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([ 0.10338324, -0.04750769,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.81548692e-05,-5.13075048e-06,-4.90502260e+00,-7.16717111e-03,
 -1.29062705e-03,-1.29186356e-05]


--- 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,
  9.52756877e-02,-6.99218730e-02, 1.30428147e-01, 9.94442808e-01,
 -1.53985880e-04, 8.55650750e-04,-1.05274620e-01]

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,-1.04937999,-2.5602086 ,
 -0.07981301,39.65479873,-5.49457987, 2.49804878]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005904562368675287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40139976e-14, -9.40139976e-14,  1.00000000e+00,  8.83863174e-27,
        1.00000000e+00,  9.40139976e-14, -1.00000000e+00,  0.00000000e+00,
        9.40139976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338646, -0.04750835,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.52187381e-06,-2.96667081e-06,-4.90500159e+00,-7.16705001e-03,
 -1.28993407e-03,-1.24949332e-05]


--- 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,
  9.52719853e-02,-6.99425303e-02, 1.30426082e-01, 9.94437148e-01,
  4.36059997e-06, 8.47415248e-04,-1.05328248e-01]

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, -1.02787751, -2.51813348, -0.24720836, 38.99968521,
  -5.75529304,  2.25997171]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005878387497735421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72163083e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.72163083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338944, -0.04750772,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.52576720e-05, 7.10721526e-06,-4.90502125e+00,-7.17183587e-03,
 -1.28904569e-03,-1.21975891e-05]


--- 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,
  9.52620404e-02,-6.99528656e-02, 1.30424914e-01, 9.94430860e-01,
  9.43104485e-05, 7.80495879e-04,-1.05388078e-01]

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, -1.56059883,  2.58048617,  0.22401575,-30.91491229,
 -32.78050404, -3.14564202]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005919577240413483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.89386331e-07, -1.04032232e-13,  1.00000000e+00, -7.17183989e-20,
        1.00000000e+00,  1.04032232e-13, -1.00000000e+00,  1.20370622e-35,
       -6.89386331e-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([ 0.10649993, -0.08865408,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.35870511e-05, 2.47071104e-05,-4.90507967e+00,-7.18144821e-03,
 -1.28785449e-03,-1.20402745e-05]


--- 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,
  9.52477083e-02,-6.99502911e-02, 1.30422688e-01, 9.94423881e-01,
  9.48419557e-05, 6.65145956e-04,-1.05454700e-01]

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, -1.09680205,  3.22747238, -0.26450911,-41.90549433,
 -28.79228358, -3.44626537]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005963496039374377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.30849134e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.30849134e-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([ 0.10346785, -0.09527433,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.06776364e-05, 2.22748451e-05,-4.90504271e+00,-7.18658229e-03,
 -1.28558821e-03,-1.26484265e-05]


--- 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,
  9.52290550e-02,-6.99350539e-02, 1.30418657e-01, 9.94416172e-01,
  7.76631304e-06, 5.02844712e-04,-1.05528307e-01]

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,
 -1.08030794e+00, 3.16563845e+00,-4.51218233e-01,-4.10813451e+01,
 -2.79641396e+01,-3.53800531e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005960763841062061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31275801e-14, -9.31275801e-14,  1.00000000e+00,  8.67274618e-27,
        1.00000000e+00,  9.31275801e-14, -1.00000000e+00,  0.00000000e+00,
        9.31275801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346586, -0.09527456,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.91821186e-06, 2.75390505e-05,-4.90504750e+00,-7.18646478e-03,
 -1.28078308e-03,-9.93128059e-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,
  9.52061355e-02,-6.99073622e-02, 1.30412174e-01, 9.94407673e-01,
 -1.65406105e-04, 2.94789564e-04,-1.05609020e-01]

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 , -1.06654666,  3.11365988, -0.61295676,-40.39205797,
 -27.29186373, -3.5965267 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005922718084015316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37258037e-14, -9.37258037e-14,  1.00000000e+00,  8.78452627e-27,
        1.00000000e+00,  9.37258037e-14, -1.00000000e+00,  0.00000000e+00,
        9.37258037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346477, -0.0952763 ,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.31301259e-05, 4.69794111e-05,-4.90511509e+00,-7.18113137e-03,
 -1.27302188e-03,-4.34097770e-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,
  9.51786606e-02,-6.98904978e-02, 1.30407528e-01, 9.94399849e-01,
 -2.57175777e-04, 6.95193601e-05,-1.05682876e-01]

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 , -1.13884686, -2.70684059,  0.45910777, 41.38183592,
  -4.26162622,  3.4558125 ]

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([ 6.41448442,  0.23225914,  6.41027816,  0.23225914, 45.31533747,
       -1.40946749,  6.41027816, -1.40946749,  6.46555268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005978412497992663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64263308e-14, -1.85705323e-13,  1.00000000e+00,  8.62161676e-27,
        1.00000000e+00,  1.85705323e-13, -1.00000000e+00,  0.00000000e+00,
        4.64263308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340986, -0.04751165,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.34484164e-05, 7.98277738e-05,-4.90524188e+00,-7.17066513e-03,
 -1.26239677e-03, 3.96397440e-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,
  9.51467525e-02,-6.98841911e-02, 1.30403733e-01, 9.94392607e-01,
 -2.69479833e-04,-1.74034179e-04,-1.05750837e-01]

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, -1.10830451, -2.63943637,  0.21285765, 40.47628659,
  -4.89217372,  2.96186838]

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([  6.46696559,  -2.21545897,  -6.0756387 ,  -2.21545897,
        43.86778376, -13.6380687 ,  -6.0756387 , -13.6380687 ,
        11.44003642,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006041285644766414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29715803e-14, -9.18863211e-14,  1.00000000e+00,  2.11077400e-27,
        1.00000000e+00,  9.18863211e-14, -1.00000000e+00,  0.00000000e+00,
        2.29715803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10341424, -0.0475138 ,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.00615517e-05, 6.30938847e-05,-4.90519784e+00,-7.16680120e-03,
 -1.24469729e-03, 2.76048930e-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,
  9.51131330e-02,-6.98888459e-02, 1.30400504e-01, 9.94385564e-01,
 -2.02005299e-04,-4.16008946e-04,-1.05816522e-01]

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,-0.42783419,-2.74035251,
  0.14152195,39.5823668 , 5.00299654, 1.13537431]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006062890362419637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14448613e-13, -1.37338335e-13,  1.00000000e+00,  1.57181819e-26,
        1.00000000e+00,  1.37338335e-13, -1.00000000e+00,  0.00000000e+00,
        1.14448613e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09850564, -0.04668813,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.33304246e-06, 5.58827395e-05,-4.90519901e+00,-7.16788095e-03,
 -1.22701690e-03, 1.60525567e-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,
  9.50854079e-02,-6.99004278e-02, 1.30399879e-01, 9.94378284e-01,
 -9.27378344e-05,-6.06209100e-04,-1.05884144e-01]

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,
  1.47357748e+00,-1.73180694e+00, 6.51191932e-01, 1.80394123e+01,
  2.79533023e+01,-9.79025034e-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([  6.52269531,  -4.50180223,  -4.7200986 ,  -4.50180223,
        39.62869025, -31.5749001 ,  -4.7200986 , -31.5749001 ,
        36.63731104,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006108100948414991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08811948e-14, -4.54405974e-14,  1.00000000e+00,  4.12969579e-27,
        1.00000000e+00,  4.54405974e-14, -1.00000000e+00,  0.00000000e+00,
        9.08811948e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08504901, -0.05573153,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.19873722e-06, 5.61750780e-05,-4.90521018e+00,-7.17390056e-03,
 -1.21032221e-03, 6.04586605e-07]


--- 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,
  9.50634492e-02,-6.99187779e-02, 1.30400971e-01, 9.94370745e-01,
  5.79748063e-05,-7.46300777e-04,-1.05954050e-01]

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,  1.44160083, -1.69202068,  0.42899498, 17.95254051,
  27.10761126, -1.15969922]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006129770535791557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05599172e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.05599172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08505102, -0.05573006,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.15443514e-06, 5.26555408e-05,-4.90516100e+00,-7.18246800e-03,
 -1.19818145e-03, 3.09162547e-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,
  9.50471474e-02,-6.99437642e-02, 1.30403013e-01, 9.94362919e-01,
  2.49819735e-04,-8.37662501e-04,-1.06026510e-01]

qacc:
[-2.31853225, 2.44389955,-9.37560461,14.91959104, 5.57141739, 1.11310108,
 -4.97190719, 9.73005447,-2.36373245,-0.63131086, 1.6995507 ,-1.41448313,
 -0.50241046, 0.39848027,-9.26196022,29.90854529, 1.41423723,-1.65905664,
  0.23739567,17.86785979,26.40670598,-1.30137822]

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: -0.000611164191592739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08285400e-14,  1.81657080e-13,  1.00000000e+00, -1.64996474e-26,
        1.00000000e+00, -1.81657080e-13, -1.00000000e+00,  0.00000000e+00,
        9.08285400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08505201, -0.05572816,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.31632124e-05, 5.21763958e-05,-4.90514072e+00,-7.19327562e-03,
 -1.18928609e-03, 5.84268806e-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,
  9.50381191e-02,-6.99698466e-02, 1.30406994e-01, 9.94355215e-01,
  4.41814424e-04,-8.76228992e-04,-1.06097799e-01]

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,  1.81836321, -0.27401873,  0.48492759, -2.72391441,
  26.25694724,  0.58161987]

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([ 6.48509691, -1.03692672, -6.40166111, -1.03692672, 55.15938347,
       -7.88415182, -6.40166111, -7.88415182,  7.76215415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006063016568174253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52901620e-07, -1.52901717e-07,  1.00000000e+00, -2.33789202e-14,
        1.00000000e+00,  1.52901717e-07, -1.00000000e+00,  0.00000000e+00,
       -1.52901620e-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([ 0.08234561, -0.06672099,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.57418029e-05, 5.44565662e-05,-4.90514733e+00,-7.20632658e-03,
 -1.18354016e-03, 8.83787882e-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,
  9.50379247e-02,-6.99894408e-02, 1.30411781e-01, 9.94348396e-01,
  5.78879444e-04,-8.58097579e-04,-1.06161177e-01]

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,  2.20848331,  1.62202695,  0.20147641,-30.31429244,
  25.27710539,  3.99198329]

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([ 6.47865938, -0.45703949, -6.46251826, -0.45703949, 53.60907152,
       -3.33313715, -6.46251826, -3.33313715,  6.7143841 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006055300313527467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16736551e-14, -9.16736551e-14,  1.00000000e+00,  8.40405903e-27,
        1.00000000e+00,  9.16736551e-14, -1.00000000e+00,  0.00000000e+00,
        9.16736551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07890701, -0.08175926,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.34848369e-05, 4.34165255e-05,-4.90512307e+00,-7.21911010e-03,
 -1.18266287e-03, 1.22247257e-05]


--- 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,
  9.50463868e-02,-7.00026648e-02, 1.30416622e-01, 9.94342423e-01,
  6.62453535e-04,-7.83738678e-04,-1.06217196e-01]

qacc:
[-5.03580244e-01,-1.71316124e+00, 6.75253831e+00,-9.35020827e+00,
 -5.75398881e-01,-1.58369512e+00, 6.00054997e+00,-9.75318382e+00,
  4.38788447e+00,-9.96521404e-01, 3.28507991e+00,-2.94878138e+00,
  2.32832933e-01,-1.14341277e+00, 2.51638117e+00,-1.10201830e+01,
  2.16413020e+00, 1.59256754e+00, 1.36855524e-02,-2.95759861e+01,
  2.51180190e+01, 3.70994938e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006039208278085934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19179281e-14, -9.19179281e-14,  1.00000000e+00,  8.44890551e-27,
        1.00000000e+00,  9.19179281e-14, -1.00000000e+00,  0.00000000e+00,
        9.19179281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07890442, -0.08175822,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.78192370e-05, 1.65588519e-05,-4.90505955e+00,-7.22807393e-03,
 -1.18708491e-03, 1.41067863e-05]


--- 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,
  9.50633587e-02,-7.00096185e-02, 1.30420874e-01, 9.94337248e-01,
  6.93723829e-04,-6.53569804e-04,-1.06266307e-01]

qacc:
[  2.73076626, -1.84603141,  6.28276339, -7.16727191,  5.80722954,
  -3.21128547, 15.96965055,-36.45336635, -0.29425455, -2.0619192 ,
   8.12892596,-13.48570658, -0.59187673,  0.31070505,  5.72622652,
 -22.67560586,  2.1274355 ,  1.56756305, -0.14747632,-28.96548845,
  24.97193278,  3.47950834]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005991226263753063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.21179158e-14, -9.26540725e-14,  1.00000000e+00,  4.82893714e-27,
        1.00000000e+00,  9.26540725e-14, -1.00000000e+00,  0.00000000e+00,
        5.21179158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07890144, -0.08175816,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02177818e-05,-3.15585785e-06,-4.90503639e+00,-7.23326901e-03,
 -1.19414362e-03, 1.36123368e-05]


--- 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,
  9.50759466e-02,-7.00038100e-02, 1.30423472e-01, 9.94331482e-01,
  6.38972934e-04,-5.71459292e-04,-1.06321064e-01]

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, -1.09598558,  3.19056657, -0.41355897,-40.21518365,
 -28.46583992, -2.7942389 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005981860871365069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27991346e-14, -9.27991346e-14,  1.00000000e+00,  8.61167939e-27,
        1.00000000e+00,  9.27991346e-14, -1.00000000e+00,  0.00000000e+00,
        9.27991346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342804, -0.09528414,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.05296638e-05,-1.63858979e-05,-4.90505156e+00,-7.23478596e-03,
 -1.20388597e-03, 1.08109247e-05]


--- 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,
  9.50842196e-02,-6.99854721e-02, 1.30423750e-01, 9.94325077e-01,
  4.99418167e-04,-5.35975189e-04,-1.06381881e-01]

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, -1.07872243,  3.13233823, -0.57992554,-39.68442325,
 -27.69139005, -3.00777955]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947325154757044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33380130e-14, -1.86676026e-13,  1.00000000e+00,  1.74239693e-26,
        1.00000000e+00,  1.86676026e-13, -1.00000000e+00,  0.00000000e+00,
        9.33380130e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342632, -0.09528694,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.12502344e-05,-1.11544125e-05,-4.90502707e+00,-7.23034668e-03,
 -1.21060657e-03, 7.72818277e-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,
  9.50882365e-02,-6.99547980e-02, 1.30421135e-01, 9.94317968e-01,
  2.76077454e-04,-5.45951724e-04,-1.06449070e-01]

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, -1.0640514 ,  3.08405437, -0.72312505,-39.23867175,
 -27.0597599 , -3.17118349]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005884057674769572
  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([ 0.10342544, -0.09529072,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.11922801e-05, 6.97233883e-06,-4.90506306e+00,-7.22090215e-03,
 -1.21433222e-03, 7.45030004e-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,
  9.50979997e-02,-6.99309206e-02, 1.30420995e-01, 9.94310669e-01,
  9.47698121e-05,-5.02415418e-04,-1.06517756e-01]

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,  1.43660451, -1.69916361,  0.61868951, 18.04854056,
  28.84132228, -0.77312369]

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([ 6.27051659, -2.37551652,  5.80312843, -2.37551652, 46.04210284,
       16.28053923,  5.80312843, 16.28053923, 12.93497186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005805982998993334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20734591e-07,  9.20734304e-07,  1.00000000e+00, -8.47751923e-13,
        1.00000000e+00, -9.20734304e-07, -1.00000000e+00,  0.00000000e+00,
        9.20734591e-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([ 0.0851601 , -0.05592685,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.98705756e-05, 3.76054440e-05,-4.90515666e+00,-7.20649343e-03,
 -1.21517380e-03, 9.84226925e-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,
  9.51134712e-02,-6.99137877e-02, 1.30422461e-01, 9.94303148e-01,
 -4.44130236e-05,-4.06863285e-04,-1.06588376e-01]

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,  1.42706247, -1.68614444,  0.40141311, 18.17179242,
  28.1033188 , -0.98662219]

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([ 6.30318907,  0.1912599 , -6.30028667,  0.1912599 , 66.30404129,
        1.82146581, -6.30028667,  1.82146581,  6.35848391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005845124110328698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74850065e-14,  9.49700129e-14,  1.00000000e+00, -4.50965168e-27,
        1.00000000e+00, -9.49700129e-14, -1.00000000e+00,  0.00000000e+00,
        4.74850065e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08506582, -0.05571506,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.65952794e-05, 1.32564242e-05,-4.90510631e+00,-7.19598322e-03,
 -1.21565060e-03, 6.14461262e-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,
  9.51345750e-02,-6.99032644e-02, 1.30424814e-01, 9.94295376e-01,
 -1.42013511e-04,-2.60939137e-04,-1.06661221e-01]

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,  1.40807847, -1.65239864,  0.22167889, 17.98773632,
  27.25862198, -1.12704134]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005844930736198239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74865775e-14, -9.49731549e-14,  1.00000000e+00,  4.50995008e-27,
        1.00000000e+00,  9.49731549e-14, -1.00000000e+00,  0.00000000e+00,
        4.74865775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08506828, -0.05571404,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.96376793e-05,-8.08411513e-06,-4.90508397e+00,-7.18774647e-03,
 -1.21954703e-03, 2.83903248e-06]


--- 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,
  9.51612482e-02,-6.98992375e-02, 1.30427432e-01, 9.94287320e-01,
 -1.98505536e-04,-6.59673311e-05,-1.06736507e-01]

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, 1.39234383,-1.62407666,
  0.0665491 ,17.82089631,26.57640615,-1.23038539]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005813165772159401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54921181e-14,  4.77460590e-14,  1.00000000e+00, -4.55937231e-27,
        1.00000000e+00, -4.77460590e-14, -1.00000000e+00,  0.00000000e+00,
        9.54921181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08506968, -0.05571257,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.91289903e-05,-2.64543602e-05,-4.90508848e+00,-7.18176450e-03,
 -1.22675153e-03,-9.78041019e-08]


--- 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,
  9.51836530e-02,-6.99053615e-02, 1.30429746e-01, 9.94279756e-01,
 -1.75127857e-04, 1.08583894e-04,-1.06806947e-01]

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, -1.06709182, -2.53774241, -0.07635016, 40.79673752,
  -5.88992098,  2.43101514]

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([  6.26455957,   6.05730644,   1.59804422,   6.05730644,
         9.17307253, -11.02457241,   1.59804422, -11.02457241,
        48.05264805,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005798845123711482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39319856e-14, -4.78639712e-14,  1.00000000e+00,  1.14547987e-27,
        1.00000000e+00,  4.78639712e-14, -1.00000000e+00,  0.00000000e+00,
        2.39319856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346666, -0.04752617,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.51228174e-05,-4.21291090e-05,-4.90511821e+00,-7.17802474e-03,
 -1.23716422e-03,-2.71304454e-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,
  9.52018816e-02,-6.99214859e-02, 1.30431099e-01, 9.94272643e-01,
 -7.36966638e-05, 2.62526166e-04,-1.06872996e-01]

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,-1.04406684,-2.50011072,
 -0.24011294,39.90390506,-6.07761227, 2.20929487]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005785444735095929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79748349e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.79748349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.103469  , -0.04752729,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.35585616e-05,-3.32584589e-05,-4.90508827e+00,-7.17789800e-03,
 -1.24509421e-03,-1.40499175e-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,
  9.52160117e-02,-6.99474846e-02, 1.30430925e-01, 9.94265929e-01,
  1.04300996e-04, 3.95743076e-04,-1.06935006e-01]

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, -1.02460494, -2.46855827, -0.38149889, 39.17094758,
  -6.21208736,  2.03835053]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005742717931812302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83317759e-14, -9.66635518e-14,  1.00000000e+00,  4.67192112e-27,
        1.00000000e+00,  9.66635518e-14, -1.00000000e+00,  0.00000000e+00,
        4.83317759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347128, -0.04752708,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.61052851e-05,-1.66925659e-05,-4.90509942e+00,-7.18272340e-03,
 -1.25272495e-03,-3.28321081e-07]


--- 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,
  9.52256881e-02,-6.99601283e-02, 1.30430849e-01, 9.94258643e-01,
  1.91045180e-04, 4.77198134e-04,-1.07002272e-01]

qacc:
[ 1.54642479e-01,-5.31655172e-01, 1.56974831e+00, 2.56830098e-01,
  6.21764964e-01,-5.29343487e-01, 5.20220338e+00,-1.48324949e+01,
  1.90187613e+00,-1.36551052e+00, 2.33033071e+00, 2.54184804e+00,
 -1.24195976e+00, 1.62516442e+00, 8.87307475e-01,-4.03801687e+00,
 -1.11343850e+00, 3.33874205e+00, 2.42816875e-02,-4.25964652e+01,
 -3.06117801e+01,-2.65895591e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000582370883293229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53192421e-14, -9.53192421e-14,  1.00000000e+00,  9.08575792e-27,
        1.00000000e+00,  9.53192421e-14, -1.00000000e+00,  0.00000000e+00,
        9.53192421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339722, -0.09530461,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.30950991e-05, 7.20583490e-06,-4.90514952e+00,-7.19240690e-03,
 -1.25997659e-03, 5.30349020e-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,
  9.52309950e-02,-6.99597296e-02, 1.30429979e-01, 9.94250759e-01,
  1.88548505e-04, 5.09046902e-04,-1.07075367e-01]

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, -1.0923687 ,  3.26061597, -0.1986066 ,-41.70880629,
 -29.43564263, -2.9460755 ]

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([  6.33639598,   1.78413827,   6.08002998,   1.78413827,
        46.79546976, -11.87240557,   6.08002998, -11.87240557,
         9.82026253,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005884895442368615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.43281861e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.43281861e-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([ 0.10339288, -0.09530283,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.49489645e-05,-5.32297666e-06,-4.90504063e+00,-7.19644211e-03,
 -1.26781887e-03,-4.98097390e-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,
  9.52320055e-02,-6.99465536e-02, 1.30427539e-01, 9.94242231e-01,
  9.85208920e-05, 4.93052684e-04,-1.07154719e-01]

qacc:
[-1.94867282e+00, 2.85014159e-02,-1.09605849e+00, 5.42493226e+00,
  5.24137728e+00,-4.87649927e-01, 2.44902690e+00,-4.99331965e+00,
 -7.92157779e+00, 6.64222678e-01,-2.24416295e+00, 1.86184901e+00,
 -2.36279146e-01,-1.59797001e-01,-3.85895350e+00, 1.17981723e+01,
 -1.07410030e+00, 3.19430774e+00,-3.92403211e-01,-4.09507956e+01,
 -2.84705926e+01,-3.16270770e+00]

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([  6.34844105,   2.18921784,   5.9590292 ,   2.18921784,
        55.53504569, -18.07008974,   5.9590292 , -18.07008974,
        12.98699937,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005899320189088203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40975391e-14, -1.88195078e-13,  1.00000000e+00,  1.77086937e-26,
        1.00000000e+00,  1.88195078e-13, -1.00000000e+00,  0.00000000e+00,
        9.40975391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338991, -0.09530291,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.79009371e-08,-3.35116648e-06,-4.90500146e+00,-7.19523798e-03,
 -1.27239777e-03,-7.27281456e-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,
  9.52287822e-02,-6.99208235e-02, 1.30422857e-01, 9.94232997e-01,
 -7.76002001e-05, 4.30651503e-04,-1.07240644e-01]

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, -1.05845855,  3.13852573, -0.56037877,-40.31086891,
 -27.68269262, -3.324407  ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005875972594841933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44714264e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.44714264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338802, -0.09530448,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.26168240e-05, 1.24712206e-05,-4.90502685e+00,-7.18886814e-03,
 -1.27388846e-03,-6.58336974e-06]


--- 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,
  9.52209973e-02,-6.99058508e-02, 1.30419832e-01, 9.94224496e-01,
 -1.72254339e-04, 3.51135672e-04,-1.07319611e-01]

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, -1.14037069, -2.68935354,  0.41409716, 41.41479035,
  -4.14011765,  3.51487536]

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([ 6.30455578,  0.1937521 ,  6.30157788,  0.1937521 , 42.40738658,
       -1.11003931,  6.30157788, -1.11003931,  6.33868572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005846761161889258
  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([ 0.10349047, -0.047534  ,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.37388550e-05, 4.15462652e-05,-4.90511288e+00,-7.17739789e-03,
 -1.27242458e-03,-3.09511472e-06]


--- 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,
  9.52087791e-02,-6.99013817e-02, 1.30417522e-01, 9.94216645e-01,
 -1.87389884e-04, 2.53469958e-04,-1.07392566e-01]

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, -1.10835547, -2.62590187,  0.17873221, 40.50258632,
  -4.75620928,  3.03628275]

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([  6.35891172,  -2.54052078,  -5.82936639,  -2.54052078,
        42.25746871, -15.64510173,  -5.82936639, -15.64510173,
        13.17726959,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005911859202600983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38979589e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.38979589e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349484, -0.0475365 ,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.06748351e-05, 2.94499428e-05,-4.90505231e+00,-7.17215886e-03,
 -1.26330648e-03,-3.41510284e-06]


--- 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,
  9.51922336e-02,-6.99072004e-02, 1.30415110e-01, 9.94209363e-01,
 -1.24654496e-04, 1.36864939e-04,-1.07460261e-01]

qacc:
[-2.10791304e+00, 1.37479450e+00,-4.04626771e+00, 2.79181244e+00,
 -6.51243146e+00, 1.88951411e+00,-7.01798510e+00, 1.04894297e+01,
  9.53561968e+00, 1.14310992e+00,-3.57744337e+00, 4.06795462e+00,
 -1.37457982e+00, 1.92426060e+00, 7.72292016e+00,-2.82051819e+01,
 -1.08181557e+00,-2.57193493e+00,-2.55594131e-02, 3.97266466e+01,
 -5.23407102e+00, 2.65343624e+00]

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([  6.3745038 ,  -2.89200812,  -5.6807207 ,  -2.89200812,
        51.0232189 , -22.73029315,  -5.6807207 , -22.73029315,
        17.94630884,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000593053118874115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36023258e-14, -1.87204652e-13,  1.00000000e+00,  1.75227908e-26,
        1.00000000e+00,  1.87204652e-13, -1.00000000e+00,  0.00000000e+00,
        9.36023258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349874, -0.04753736,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.52889335e-06, 2.63891204e-05,-4.90503593e+00,-7.17189588e-03,
 -1.25424707e-03,-3.74145332e-06]


--- 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,
  9.51714480e-02,-6.99231249e-02, 1.30411888e-01, 9.94202565e-01,
  1.45716751e-05, 7.15816910e-07,-1.07523296e-01]

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,
 -1.06002187e+00,-2.52646215e+00,-2.02173502e-01, 3.90737448e+01,
 -5.60592956e+00, 2.34623671e+00]

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: -0.0005911620735589845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87803493e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87803493e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10350227, -0.04753688,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.48208396e-06, 3.16980074e-05,-4.90506113e+00,-7.17652258e-03,
 -1.24506198e-03,-4.12440293e-06]


--- 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,
  9.51462576e-02,-6.99259790e-02, 1.30407989e-01, 9.94195062e-01,
  6.33009182e-05,-1.85413058e-04,-1.07592476e-01]

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, -1.10120932,  3.26762017, -0.16961793,-42.29913788,
 -29.71030774, -3.09200239]

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: -0.0005883286102588009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43539890e-14, -9.43539890e-14,  1.00000000e+00,  8.90267524e-27,
        1.00000000e+00,  9.43539890e-14, -1.00000000e+00,  0.00000000e+00,
        9.43539890e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033743 , -0.09530542,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.93294433e-06, 4.49040496e-05,-4.90512586e+00,-7.18596407e-03,
 -1.23561242e-03,-4.59751652e-06]


--- 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,
  9.51170361e-02,-6.99165984e-02, 1.30403190e-01, 9.94186861e-01,
  2.70565451e-05,-4.16464224e-04,-1.07667598e-01]

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, -1.00775764,  3.0586599 , -0.22470996,-39.82405362,
 -26.90227422, -2.98215237]

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([  6.35359085,   1.80471415,   6.09188998,   1.80471415,
        55.11114977, -14.44436073,   6.09188998, -14.44436073,
        10.63271314,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000590548728686468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.19436129e-07,  5.19436123e-07,  1.00000000e+00,  2.69813889e-13,
        1.00000000e+00, -5.19436123e-07, -1.00000000e+00,  0.00000000e+00,
       -5.19436129e-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([ 0.10264803, -0.09373616,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.76662698e-07, 4.59533022e-05,-4.90512598e+00,-7.18917375e-03,
 -1.22675684e-03,-2.36115766e-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,
  9.50937205e-02,-6.99142921e-02, 1.30401594e-01, 9.94178500e-01,
  3.31044602e-05,-5.93071095e-04,-1.07743944e-01]

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,
  1.47646124e+00,-1.76856690e+00, 8.00609356e-01, 1.80920229e+01,
  2.93406065e+01,-6.26328031e-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([ 6.44998037, -2.25205618,  6.04404581, -2.25205618, 43.80412882,
       13.91843208,  6.04404581, 13.91843208, 11.63609114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006020933287753522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60984606e-14, -1.84393843e-13,  1.00000000e+00,  8.50027229e-27,
        1.00000000e+00,  1.84393843e-13, -1.00000000e+00,  0.00000000e+00,
        4.60984606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08510783, -0.05568893,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.27997950e-06, 6.00829271e-05,-4.90518454e+00,-7.18741299e-03,
 -1.21490331e-03, 6.85907643e-06]


--- 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,
  9.50761843e-02,-6.99188794e-02, 1.30402241e-01, 9.94169952e-01,
  8.10383003e-05,-7.17414184e-04,-1.07822008e-01]

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,  1.44483653, -1.72340957,  0.56060252, 18.00498349,
  28.23615795, -0.87777134]

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([ 6.49607841,  1.71498747, -6.26560872,  1.71498747, 57.94471891,
       14.08223492, -6.26560872, 14.08223492, 10.3505892 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006076181268931946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56793081e-14, -9.13586162e-14,  1.00000000e+00, -4.17319837e-27,
        1.00000000e+00,  9.13586162e-14, -1.00000000e+00,  0.00000000e+00,
       -4.56793081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08511168, -0.05568796,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.80565563e-06, 4.69107422e-05,-4.90510811e+00,-7.18978756e-03,
 -1.20286576e-03, 7.64017125e-06]


--- 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,
  9.50643182e-02,-6.99302089e-02, 1.30404298e-01, 9.94161187e-01,
  1.70481749e-04,-7.91285966e-04,-1.07902174e-01]

qacc:
[ -1.04520861,  0.21467252, -1.97635534,  6.60805797, -1.59507745,
   2.50786544,-11.03216424, 21.64779907, -2.5714225 , -1.4310732 ,
   5.68520744, -8.64175519, -0.07103065, -0.55962381, -6.57482791,
  19.9429161 ,  1.41755846, -1.68556348,  0.35274698, 17.91209892,
  27.32619048, -1.07348244]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006085802792817202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.12141802e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.12141802e-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([ 0.08511415, -0.05568647,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.30545406e-06, 3.73588557e-05,-4.90506317e+00,-7.19438080e-03,
 -1.19424844e-03, 8.74328244e-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,
  9.50580294e-02,-6.99481551e-02, 1.30407050e-01, 9.94152171e-01,
  3.01099074e-04,-8.16154080e-04,-1.07984738e-01]

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, 1.39429722,-1.65416582,
  0.17362927,17.82200656,26.57984419,-1.22551639]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006058662759969857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37434167e-13,  9.16227779e-14,  1.00000000e+00, -1.25921001e-26,
        1.00000000e+00, -9.16227779e-14, -1.00000000e+00,  0.00000000e+00,
        1.37434167e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08511553, -0.05568457,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.49720991e-05, 3.09825157e-05,-4.90504700e+00,-7.20120279e-03,
 -1.18892089e-03, 1.01348548e-05]


--- 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,
  9.50589374e-02,-6.99671470e-02, 1.30411255e-01, 9.94143305e-01,
  4.31543752e-04,-7.88564666e-04,-1.08066099e-01]

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,  1.79921593, -0.26140492,  0.36321768, -2.91765681,
  26.06630301,  0.59755913]

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([ 6.4450554 , -1.15215526, -6.34123627, -1.15215526, 45.48031524,
       -7.0924151 , -6.34123627, -7.0924151 ,  7.73369424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006015032776628126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.22873628e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.22873628e-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([ 0.0823332 , -0.06679922,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.91289800e-05, 2.74627143e-05,-4.90505753e+00,-7.21025741e-03,
 -1.18677821e-03, 1.17888057e-05]


--- 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,
  9.50685427e-02,-6.99798136e-02, 1.30415475e-01, 9.94135337e-01,
  5.08239014e-04,-7.05511333e-04,-1.08139608e-01]

qacc:
[ 3.37412756e+00, 6.41609698e-01,-2.85140370e+00, 4.55938535e+00,
 -3.15578112e+00,-1.21118870e+00, 8.62038495e+00,-2.43309323e+01,
  7.14221630e+00, 3.46726110e+00,-1.54171644e+01, 3.13987026e+01,
 -1.09643131e+00, 1.29774090e+00, 4.44750584e+00,-1.80974044e+01,
  2.17430485e+00, 1.58130875e+00, 3.86560387e-03,-2.97112935e+01,
  2.46673461e+01, 3.96151285e+00]

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([ 6.41905505, -0.62771127, -6.38828978, -0.62771127, 41.80191281,
       -3.47670808, -6.38828978, -3.47670808,  6.76067525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005983886959789186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63838569e-14, -1.85535427e-13,  1.00000000e+00,  8.60584871e-27,
        1.00000000e+00,  1.85535427e-13, -1.00000000e+00,  0.00000000e+00,
        4.63838569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0788673 , -0.08169392,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.50998943e-05, 1.45993815e-05,-4.90505462e+00,-7.21896400e-03,
 -1.18958824e-03, 1.31848780e-05]


--- 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,
  9.50743197e-02,-6.99798164e-02, 1.30418413e-01, 9.94126934e-01,
  4.99856660e-04,-6.68056979e-04,-1.08217114e-01]

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, -0.95704838,  3.16595737, -0.32046244,-39.82510376,
 -27.26707774, -1.96916428]

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([ 6.37776887,  6.12183658, -1.78858958,  6.12183658, 11.20081179,
       16.5079126 , -1.78858958, 16.5079126 , 62.87968749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005934441248424407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.91197115e-07,  3.91197095e-07,  1.00000000e+00,  1.53035175e-13,
        1.00000000e+00, -3.91197095e-07, -1.00000000e+00,  0.00000000e+00,
       -3.91197115e-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([ 0.10235098, -0.09476167,  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:
[-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,
 -2.40618598e-05,-7.98210253e-06,-4.90503582e+00,-7.22383035e-03,
 -1.19764072e-03, 1.23035859e-05]


--- 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,
  9.50758443e-02,-6.99672028e-02, 1.30419143e-01, 9.94117981e-01,
  4.06870697e-04,-6.78435857e-04,-1.08299651e-01]

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, -1.06311945,  3.1540844 , -0.55210385,-39.46671959,
 -28.35537295, -2.49023717]

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([  6.35663701,   1.58204132,   6.15662077,   1.58204132,
        58.32866799, -13.35503737,   6.15662077, -13.35503737,
         9.7884256 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000590913515885319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8788249e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8788249e-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([ 0.1033396 , -0.09531637,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.44514472e-06,-4.79150311e-06,-4.90500242e+00,-7.22221119e-03,
 -1.20265331e-03, 1.00753507e-05]


--- 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,
  9.50858872e-02,-6.99483929e-02, 1.30419376e-01, 9.94109862e-01,
  2.59627876e-04,-6.31058199e-04,-1.08374889e-01]

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,  2.12958861,  1.54910175, -0.12424629,-30.09405896,
  25.77217464,  3.67979278]

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([ 6.32007396, -5.10077817,  3.73167482, -5.10077817, 17.42541652,
       15.17974947,  3.73167482, 15.17974947, 27.06907767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000586534777065606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.91515983e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.91515983e-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([ 0.07886034, -0.0816905 ,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.46376790e-05, 1.17083244e-05,-4.90502776e+00,-7.21559194e-03,
 -1.20448231e-03, 1.06504233e-05]


--- 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,
  9.51015548e-02,-6.99363059e-02, 1.30420951e-01, 9.94101532e-01,
  1.54628246e-04,-5.31557081e-04,-1.08452001e-01]

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,  1.40615335, -1.68076477,  0.33545904, 18.17218502,
  28.19696356, -0.96313169]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847231081075183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89871584e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89871584e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08512686, -0.05567455,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.05721967e-05, 4.44173300e-06,-4.90507192e+00,-7.20714129e-03,
 -1.20825308e-03, 8.13905857e-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,
  9.51227792e-02,-6.99308170e-02, 1.30423186e-01, 9.94092955e-01,
  9.13338518e-05,-3.81643874e-04,-1.08531298e-01]

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,  1.38922553, -1.6494974 ,  0.16501776, 17.99541202,
  27.31864083, -1.11413434]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005836208512713104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.51150925e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.51150925e-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([ 0.08512947, -0.0556735 ,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.11476611e-05,-1.54998386e-05,-4.90505958e+00,-7.20104617e-03,
 -1.21245689e-03, 5.33430586e-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,
  9.51495046e-02,-6.99318216e-02, 1.30425493e-01, 9.94084089e-01,
  6.92802544e-05,-1.82691801e-04,-1.08613010e-01]

qacc:
[-5.43184013e+00,-1.73820599e+00, 5.42977301e+00,-5.27090395e+00,
  1.45820042e+00,-3.59235641e-01, 2.49897545e+00,-6.39104284e+00,
  2.53756861e+00,-6.57418946e-01, 2.51978559e+00,-4.37476506e+00,
 -1.22858533e+00, 1.68149630e+00, 3.32649372e-01,-1.65455052e+00,
  1.37523545e+00,-1.62335967e+00, 1.80251812e-02, 1.78370194e+01,
  2.66123894e+01,-1.22614331e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005795856244736192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78886543e-14, -1.91554617e-13,  1.00000000e+00,  9.17329285e-27,
        1.00000000e+00,  1.91554617e-13, -1.00000000e+00,  0.00000000e+00,
        4.78886543e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.085131  , -0.055672  ,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.82115695e-05,-3.24276444e-05,-4.90507402e+00,-7.19720347e-03,
 -1.21997515e-03, 2.88710263e-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,
  9.51723317e-02,-6.99206198e-02, 1.30426459e-01, 9.94074773e-01,
 -3.41126369e-05,-2.98698431e-05,-1.08698404e-01]

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, -0.97455789,  3.05157711, -0.33522734,-37.92420459,
 -27.34602865, -1.84554879]

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([ 6.21034938,  2.33589433, -5.75430596,  2.33589433, 32.86685672,
       10.82090262, -5.75430596, 10.82090262, 10.60297036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005733860756837049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70414176e-07, -1.70414315e-07,  1.00000000e+00,  2.90410150e-14,
        1.00000000e+00,  1.70414315e-07, -1.00000000e+00,  0.00000000e+00,
        1.70414176e-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([ 0.10260461, -0.09376443,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.80627496e-06,-4.66219470e-05,-4.90511357e+00,-7.19560263e-03,
 -1.23070479e-03, 7.52395201e-07]


--- 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,
  9.51907502e-02,-6.99197170e-02, 1.30427666e-01, 9.94066066e-01,
 -5.68158477e-05, 1.03933190e-04,-1.08777952e-01]

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,
 -1.10216759e+00,-2.57476376e+00, 6.02285271e-02, 4.11395493e+01,
 -5.06778772e+00, 2.93704458e+00]

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([ 6.21220544,  0.10920888,  6.21124544,  0.10920888, 38.47144418,
       -0.56719629,  6.21124544, -0.56719629,  6.22217814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005736086685346614
  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([ 0.10356438, -0.04755556,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.48675488e-05,-3.25176160e-05,-4.90509673e+00,-7.18733050e-03,
 -1.24253426e-03,-3.76572638e-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,
  9.52048669e-02,-6.99289385e-02, 1.30428387e-01, 9.94057907e-01,
 -7.48759449e-07, 2.18164607e-04,-1.08852330e-01]

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, -1.0754554 , -2.53105589, -0.12147142, 40.21566788,
  -5.44367925,  2.60335618]

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([  6.22427093,  -4.65004063,  -4.13747154,  -4.65004063,
        30.49484219, -27.2773218 ,  -4.13747154, -27.2773218 ,
        36.88083341,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005750554653560919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.6531821e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.6531821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10356765, -0.04755756,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.67277633e-06,-2.91971662e-05,-4.90504979e+00,-7.18467713e-03,
 -1.24713154e-03,-2.70199895e-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,
  9.52147185e-02,-6.99252167e-02, 1.30427877e-01, 9.94049196e-01,
 -3.26632858e-05, 2.82548571e-04,-1.08931703e-01]

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, -1.06625068,  3.23583663, -0.3076788 ,-41.01585958,
 -29.56406691, -2.52272736]

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([ 6.23075861, -0.84513647, -6.17317562, -0.84513647, 64.28858574,
       -7.9483867 , -6.17317562, -7.9483867 ,  7.31892973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005758332893884971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.64014277e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.64014277e-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([ 0.10331158, -0.09533718,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.08704126e-05,-1.78816470e-05,-4.90504468e+00,-7.18700829e-03,
 -1.25159984e-03,-1.80788553e-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,
  9.52198365e-02,-6.99198230e-02, 1.30429996e-01, 9.94040468e-01,
 -7.15607486e-05, 3.11741898e-04,-1.09011215e-01]

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, -1.18341267,  0.4179625 ,  0.65717431, -1.55398382,
 -17.87093955, -0.07124309]

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([ 6.23221146,  0.2980525 ,  6.22508027,  0.2980525 , 38.36906856,
       -1.53869032,  6.22508027, -1.53869032,  6.30588288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005760074636460696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92744555e-13, -3.98003629e-07,  1.00000000e+00,  7.67130325e-20,
        1.00000000e+00,  3.98003629e-07, -1.00000000e+00,  1.20370622e-35,
        1.92744555e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344175, -0.07136668,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.80475393e-06,-1.16693197e-05,-4.90501228e+00,-7.18369916e-03,
 -1.25829362e-03,-4.71742142e-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,
  9.52206618e-02,-6.99245370e-02, 1.30431438e-01, 9.94032336e-01,
 -3.30655036e-05, 3.22295548e-04,-1.09085334e-01]

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, -1.07320107, -2.52694322, -0.16934763, 39.48088941,
  -5.04624589,  2.72414277]

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([ 6.23116955, -0.18428314,  6.22844393, -0.18428314, 30.51469104,
        0.718485  ,  6.22844393,  0.718485  ,  6.25242762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005758825558566799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.81965903e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.81965903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357863, -0.04756077,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.00427414e-05,-2.62634238e-06,-4.90500555e+00,-7.18049556e-03,
 -1.25994163e-03,-4.87172489e-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,
  9.52168412e-02,-6.99276184e-02, 1.30434918e-01, 9.94024184e-01,
 -1.87408236e-06, 2.97288377e-04,-1.09159665e-01]

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, -1.16143122,  0.40819044,  0.50967494, -1.69050261,
 -18.07266607, -0.10828486]

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([  6.20808512,  -1.14037922,  -6.10244673,  -1.14037922,
        62.75284853, -10.56665894,  -6.10244673, -10.56665894,
         8.18270266,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005731145192169109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68587418e-14, -8.13949628e-07,  1.00000000e+00,  7.88381368e-20,
        1.00000000e+00,  8.13949628e-07, -1.00000000e+00,  0.00000000e+00,
        9.68587418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034422 , -0.07136806,  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:
[ 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,
 -9.21906846e-06, 3.80093512e-06,-4.90500455e+00,-7.18260772e-03,
 -1.25801777e-03,-4.57548727e-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,
  9.52088994e-02,-6.99182231e-02, 1.30435876e-01, 9.94015441e-01,
 -5.64359501e-05, 2.24554040e-04,-1.09239410e-01]

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, -1.0303211 ,  3.11913874, -0.63064854,-40.01467675,
 -28.40128605, -2.7356753 ]

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([ 6.19020302, -0.12733157, -6.18889328, -0.12733157, 25.21740932,
       -0.39146967, -6.18889328, -0.39146967,  6.19825719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005709694536798482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94445258e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94445258e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10329767, -0.09534189,  0.06198236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.82425604e-06, 1.14086374e-05,-4.90500651e+00,-7.18411243e-03,
 -1.25682215e-03,-4.50676834e-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,
  9.51966317e-02,-6.99189661e-02, 1.30436209e-01, 9.94007312e-01,
 -3.39926214e-05, 1.33733233e-04,-1.09313519e-01]

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,-1.08146621,-2.53455615,
 -0.15630962,39.25943938,-4.78334198, 2.84274291]

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([ 6.16766685,  0.25561806,  6.16236755,  0.25561806, 37.72466329,
       -1.30899988,  6.16236755, -1.30899988,  6.22196481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000568264929861978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88426685e-14, -1.95370674e-13,  1.00000000e+00,  9.54242508e-27,
        1.00000000e+00,  1.95370674e-13, -1.00000000e+00,  0.00000000e+00,
        4.88426685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359103, -0.04755979,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.29696785e-05, 2.42102627e-05,-4.90503008e+00,-7.18024988e-03,
 -1.25488302e-03,-2.43769406e-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,
  9.51801203e-02,-6.99296902e-02, 1.30435308e-01, 9.93999712e-01,
  6.42149492e-05, 2.40307810e-05,-1.09382667e-01]

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,-1.06093861,-2.49529336,
 -0.30834828,38.68679236,-5.24333882, 2.49896781]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000565804901388911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81100572e-14, -9.81100572e-14,  1.00000000e+00,  9.62558332e-27,
        1.00000000e+00,  9.81100572e-14, -1.00000000e+00,  0.00000000e+00,
        9.81100572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359511, -0.0475593 ,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.54839380e-06, 2.59835650e-05,-4.90503258e+00,-7.18222549e-03,
 -1.24667170e-03,-2.67023610e-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,
  9.51593624e-02,-6.99276261e-02, 1.30432839e-01, 9.93991458e-01,
  7.40956949e-05,-1.34603547e-04,-1.09457559e-01]

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,
 -1.06161877e+00, 3.19707120e+00,-3.91926209e-01,-4.12221800e+01,
 -2.91500237e+01,-2.88949552e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005678630148932412
  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([ 0.1032881 , -0.09534399,  0.06198245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.03924589e-05, 3.55708969e-05,-4.90507403e+00,-7.18896478e-03,
 -1.23826938e-03,-2.97291956e-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,
  9.51344035e-02,-6.99129904e-02, 1.30428151e-01, 9.93982488e-01,
 -2.78120029e-06,-3.40586314e-04,-1.09538564e-01]

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,
 -1.05026254e+00, 3.14288471e+00,-5.54875917e-01,-4.05272398e+01,
 -2.82803873e+01,-3.06979850e+00]

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([  6.1600063 ,   2.83691371,   5.46786962,   2.83691371,
        50.07218534, -22.78310776,   5.46786962, -22.78310776,
        17.98064491,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005673452766394443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78436827e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.78436827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10328531, -0.09534438,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.03434129e-06, 4.17711871e-05,-4.90508821e+00,-7.18959944e-03,
 -1.23115795e-03, 1.01671038e-06]


--- 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,
  9.51152796e-02,-6.99054127e-02, 1.30426387e-01, 9.93973390e-01,
 -3.77909842e-05,-4.92031961e-04,-1.09620509e-01]

qacc:
[-1.34155966e+00, 1.21709563e+00,-5.37879902e+00, 9.23447082e+00,
  3.17002410e+00, 3.15604711e-01,-8.98939257e-02,-3.21487277e+00,
  4.42942018e-01,-1.25962528e-01, 2.67318422e-02, 3.13449896e-01,
 -8.90763102e-01, 1.10982197e+00,-4.48561309e+00, 1.42229075e+01,
  1.45875819e+00,-1.76447954e+00, 7.30892295e-01, 1.78204685e+01,
  2.93974833e+01,-4.81794888e-01]

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([ 6.23333598, -2.18440019,  5.83805389, -2.18440019, 41.73413444,
       13.28318516,  5.83805389, 13.28318516, 11.20344976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005761422732360605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.63497279e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.63497279e-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([ 0.085164 , -0.0556454,  0.0619822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.26356880e-05, 6.17030006e-05,-4.90516393e+00,-7.18510667e-03,
 -1.22096384e-03, 7.88531104e-06]


--- 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,
  9.51018786e-02,-6.99047189e-02, 1.30426653e-01, 9.93964132e-01,
 -3.12468971e-05,-5.91130087e-04,-1.09703941e-01]

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,
  1.43074819e+00,-1.72099425e+00, 5.07721334e-01, 1.77821716e+01,
  2.82935883e+01,-7.56388140e-01]

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([ 6.28499032,  1.64570335, -6.0657039 ,  1.64570335, 55.74241073,
       13.41843317, -6.0657039 , 13.41843317,  9.92558352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000582332383717743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.14941580e-14,  9.53255439e-14,  1.00000000e+00, -6.81521950e-27,
        1.00000000e+00, -9.53255439e-14, -1.00000000e+00,  0.00000000e+00,
        7.14941580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08516827, -0.05564443,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.81985147e-06, 4.46832557e-05,-4.90508499e+00,-7.18492434e-03,
 -1.21013281e-03, 7.86378902e-06]


--- 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,
  9.50941037e-02,-6.99107629e-02, 1.30428175e-01, 9.93954679e-01,
  1.65476558e-05,-6.39675445e-04,-1.09789279e-01]

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,
  1.40650155e+00,-1.68445005e+00, 3.13816369e-01, 1.77272562e+01,
  2.73864612e+01,-9.69749907e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005841806148276785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37559882e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.37559882e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08517114, -0.05564302,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.49709916e-06, 3.13703864e-05,-4.90503716e+00,-7.18692430e-03,
 -1.20274510e-03, 8.16831204e-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,
  9.50918719e-02,-6.99234231e-02, 1.30430281e-01, 9.93944998e-01,
  1.05313250e-04,-6.39133153e-04,-1.09876849e-01]

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 ,  1.38578902, -1.65404079,  0.14620961, 17.6663184 ,
  26.64444819, -1.13502714]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005825161422349373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52954729e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52954729e-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([ 0.08517287, -0.05564125,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.28714878e-06, 2.12990863e-05,-4.90501785e+00,-7.19112357e-03,
 -1.19866726e-03, 8.76630771e-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,
  9.50951136e-02,-6.99425994e-02, 1.30432396e-01, 9.93935047e-01,
  2.34803457e-04,-5.90692512e-04,-1.09966898e-01]

qacc:
[ 6.58294710e+00,-3.02141257e-01, 3.16357043e+00,-9.21041106e+00,
  5.54708938e+00,-6.78436354e-01, 2.33349382e+00,-9.50247434e-01,
 -1.94042684e+00,-9.23698752e-01, 3.80616239e+00,-4.73328926e+00,
 -4.64957818e-01, 1.75638141e-01,-6.90500639e-01, 7.69359795e-01,
  1.36834658e+00,-1.62903043e+00, 1.96047216e-03, 1.76067749e+01,
  2.60412918e+01,-1.26249639e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000578051038793409
  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([ 0.08517373, -0.05563919,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.34940893e-05, 1.41333741e-05,-4.90502505e+00,-7.19753120e-03,
 -1.19779243e-03, 9.63193998e-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,
  9.51037708e-02,-6.99682108e-02, 1.30434023e-01, 9.93924782e-01,
  4.04810269e-04,-4.95311322e-04,-1.10059614e-01]

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,  1.35390067, -1.60875974, -0.12172709, 17.55373312,
  25.55526583, -1.36018644]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005713932988955228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.71505115e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.71505115e-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([ 0.08517388, -0.05563689,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.10970958e-05, 9.63699365e-06,-4.90505727e+00,-7.20615125e-03,
 -1.20003537e-03, 1.07456271e-05]


--- 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,
  9.51081162e-02,-6.99805648e-02, 1.30435178e-01, 9.93914165e-01,
  4.86901806e-04,-4.52745363e-04,-1.10155305e-01]

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, -1.0779552 ,  3.31431566, -0.11819817,-40.78483956,
 -31.08583425, -1.46549964]

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([ 6.21978916,  2.44036296, -5.72104936,  2.44036296, 35.46621551,
       12.47531547, -5.72104936, 12.47531547, 11.5412426 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005745180835718261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.66221131e-14, -9.66221131e-14,  1.00000000e+00,  9.33583273e-27,
        1.00000000e+00,  9.66221131e-14, -1.00000000e+00,  0.00000000e+00,
        9.66221131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10325209, -0.09535224,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.20850878e-05, 7.65216533e-06,-4.90511339e+00,-7.21698481e-03,
 -1.20532857e-03, 1.20934147e-05]


--- 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,
  9.51082104e-02,-6.99799612e-02, 1.30435052e-01, 9.93903113e-01,
  4.82459496e-04,-4.60611827e-04,-1.10254967e-01]

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, -1.06278787,  3.23944204, -0.32010504,-40.22670129,
 -29.82989561, -1.96517655]

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([ 6.25162229, -0.10371238,  6.25076195, -0.10371238, 41.7641571 ,
        0.5892225 ,  6.25076195,  0.5892225 ,  6.26139865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005783341431722239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.59845651e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.59845651e-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([ 0.10324652, -0.09535277,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.77963566e-05, 2.27911241e-06,-4.90502415e+00,-7.22049161e-03,
 -1.21192796e-03, 8.03484030e-06]


--- 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,
  9.51041066e-02,-6.99666520e-02, 1.30432945e-01, 9.93891538e-01,
  3.92677730e-04,-5.16980295e-04,-1.10359361e-01]

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, -1.04951517,  3.17636412, -0.49530686,-39.73674611,
 -28.80895783, -2.34901159]

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([ 6.24943755,  0.28496664,  6.2429371 ,  0.28496664, 52.23369186,
       -2.09900858,  6.2429371 , -2.09900858,  6.34524941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005780723023430939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60280418e-14, -9.60280418e-14,  1.00000000e+00,  9.22138482e-27,
        1.00000000e+00,  9.60280418e-14, -1.00000000e+00,  0.00000000e+00,
        9.60280418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10324256, -0.09535462,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.02700964e-06, 9.80502717e-06,-4.90500082e+00,-7.21901620e-03,
 -1.21502320e-03, 7.13431485e-06]


--- 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,
  9.50958504e-02,-6.99408482e-02, 1.30428250e-01, 9.93879345e-01,
  2.18572944e-04,-6.20293557e-04,-1.10469065e-01]

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,
 -1.03810593e+00, 3.12366749e+00,-6.46963851e-01,-3.93148214e+01,
 -2.79831372e+01,-2.64189035e+00]

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([ 6.21992221,  0.75656729,  6.17373778,  0.75656729, 64.34102232,
       -7.12251224,  6.17373778, -7.12251224,  7.09275807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005745340377562302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -9.661943e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  9.661943e-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([ 0.10323986, -0.09535754,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.87353439e-05, 3.00218654e-05,-4.90503924e+00,-7.21257884e-03,
 -1.21484439e-03, 9.17399304e-06]


--- 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,
  9.50933361e-02,-6.99221297e-02, 1.30426476e-01, 9.93867122e-01,
  8.62934290e-05,-6.66672173e-04,-1.10578890e-01]

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,  1.43548037, -1.77133149,  0.73035236, 17.63984407,
  30.60326125, -0.08144723]

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([ 6.23749055, -2.35848623,  5.77441176, -2.35848623, 35.13334811,
       11.80215145,  5.77441176, 11.80215145, 11.05793163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005766403112838908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.62665116e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.62665116e-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([ 0.08519366, -0.05562878,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.33216923e-05, 6.26525224e-05,-4.90513627e+00,-7.20120368e-03,
 -1.21156509e-03, 1.39873963e-05]


--- 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,
  9.50964727e-02,-6.99103167e-02, 1.30426735e-01, 9.93854814e-01,
 -4.48044866e-06,-6.58794486e-04,-1.10689543e-01]

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, 1.41273332,-1.72635732,
  0.50787397,17.62547125,29.25653782,-0.4321284 ]

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([ 6.29039109,  1.20748156, -6.1734114 ,  1.20748156, 43.55594443,
        7.28891463, -6.1734114 ,  7.28891463,  7.71605827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000582979378417614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42829626e-13, -9.52197510e-14,  1.00000000e+00,  1.36002015e-26,
        1.00000000e+00,  9.52197510e-14, -1.00000000e+00,  0.00000000e+00,
        1.42829626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0851996 , -0.05562782,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.47630787e-05, 3.36653900e-05,-4.90506483e+00,-7.19486556e-03,
 -1.20603503e-03, 1.15801451e-05]


--- 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,
  9.51051814e-02,-6.99052571e-02, 1.30428250e-01, 9.93842367e-01,
 -5.40655186e-05,-5.98832174e-04,-1.10801568e-01]

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,
  1.39300851e+00,-1.68838663e+00, 3.14342898e-01, 1.75847837e+01,
  2.81618203e+01,-7.02619577e-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([ 6.3067302 ,  0.98360461, -6.22955598,  0.98360461, 54.85909196,
        7.66608842, -6.22955598,  7.66608842,  7.51715353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000584936563984853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49011477e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.49011477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08520378, -0.05562641,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.29368630e-05, 8.93790413e-06,-4.90502496e+00,-7.19065557e-03,
 -1.20412300e-03, 9.57111063e-06]


--- 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,
  9.51193950e-02,-6.99068241e-02, 1.30430353e-01, 9.93829732e-01,
 -6.27602007e-05,-4.88538779e-04,-1.10915381e-01]

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, 1.37622928,-1.65660691,
  0.14687924,17.53037801,27.2759327 ,-0.91002168]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000583347327543296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.13697680e-14, -1.42739536e-13,  1.00000000e+00,  1.01872876e-26,
        1.00000000e+00,  1.42739536e-13, -1.00000000e+00,  0.00000000e+00,
        7.13697680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08520655, -0.05562463,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.78299900e-05,-1.21455718e-05,-4.90501374e+00,-7.18860103e-03,
 -1.20565982e-03, 7.90942486e-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,
  9.51390575e-02,-6.99149121e-02, 1.30432466e-01, 9.93816855e-01,
 -3.08343617e-05,-3.29321931e-04,-1.11031299e-01]

qacc:
[ 6.77822506e+00, 1.23279251e+00,-4.08123705e+00, 5.27005293e+00,
  5.00113305e-01, 1.00730744e+00,-2.47664087e+00,-8.71101453e-01,
 -6.45888630e-01,-7.03471161e-01, 3.04999485e+00,-7.54607355e+00,
 -3.55979011e-01,-2.73998946e-02, 4.22906895e+00,-1.62672600e+01,
  1.36225402e+00,-1.63027514e+00, 2.60752022e-03, 1.74712374e+01,
  2.65635191e+01,-1.06772640e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005789291173599748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.19144403e-14, -4.79429602e-14,  1.00000000e+00,  3.44779114e-27,
        1.00000000e+00,  4.79429602e-14, -1.00000000e+00,  0.00000000e+00,
        7.19144403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08520821, -0.05562255,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.65323742e-07,-3.00306791e-05,-4.90502901e+00,-7.18871765e-03,
 -1.21051146e-03, 6.55480637e-06]


--- 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,
  9.51641238e-02,-6.99294350e-02, 1.30434095e-01, 9.93803682e-01,
  4.14769795e-05,-1.22302206e-04,-1.11149559e-01]

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,  1.35090712, -1.6087251 , -0.12122009, 17.41369861,
  25.99566751, -1.18621833]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005722945283443276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.84987611e-14, -2.90992567e-13,  1.00000000e+00, -1.41127790e-26,
        1.00000000e+00,  2.90992567e-13, -1.00000000e+00,  0.00000000e+00,
       -4.84987611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08520901, -0.05562024,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.22599520e-05,-4.50355792e-05,-4.90506917e+00,-7.19101345e-03,
 -1.21857235e-03, 5.47625809e-06]


--- 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,
  9.51853595e-02,-6.99314264e-02, 1.30435177e-01, 9.93790302e-01,
  3.18580929e-05, 3.48394717e-05,-1.11269196e-01]

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, -0.95763252,  3.13286945, -0.13651024,-37.93939977,
 -29.33778987, -0.68968879]

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([ 6.13826456,  2.3903026 , -5.65373728,  2.3903026 , 28.51537083,
        9.46065455, -5.65373728,  9.46065455, 10.13806611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005647341935493349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34681396e-07, -9.34681119e-07,  1.00000000e+00,  8.73629053e-13,
        1.00000000e+00,  9.34681119e-07, -1.00000000e+00, -1.00974196e-28,
        9.34681396e-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([ 0.10249145, -0.09380962,  0.06198255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.72734113e-05,-5.73807756e-05,-4.90513305e+00,-7.19549157e-03,
 -1.22975996e-03, 4.65076716e-06]


--- 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,
  9.52024963e-02,-6.99205510e-02, 1.30434509e-01, 9.93776570e-01,
 -6.25558127e-05, 1.41165726e-04,-1.11391670e-01]

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, -1.02472048,  3.21671732, -0.43765596,-39.30708334,
 -29.96751322, -1.42992202]

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([ 6.15409673, -0.10773318,  6.15315367, -0.10773318, 42.98477727,
        0.64485412,  6.15315367,  0.64485412,  6.16538723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005666357099239072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79662070e-14, -9.79662070e-14,  1.00000000e+00,  9.59737771e-27,
        1.00000000e+00,  9.79662070e-14, -1.00000000e+00,  0.00000000e+00,
        9.79662070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319497, -0.09538107,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.40635038e-06,-4.86601727e-05,-4.90506372e+00,-7.19231039e-03,
 -1.24357749e-03,-1.40820300e-06]


--- 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,
  9.52151119e-02,-6.99199696e-02, 1.30434172e-01, 9.93763647e-01,
 -7.61107126e-05, 2.31076509e-04,-1.11506751e-01]

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,
 -1.13030431e+00,-2.57351465e+00, 8.29292645e-02, 4.10916697e+01,
 -3.65343443e+00, 3.72398562e+00]

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([ 6.17327589e+00,  1.57960318e-02,  6.17325568e+00,  1.57960318e-02,
        3.08885849e+01, -6.32411529e-02,  6.17325568e+00, -6.32411529e-02,
        6.17343771e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005689381911137686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75697397e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.75697397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10369256, -0.04760103,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.98841209e-05,-2.83236566e-05,-4.90505324e+00,-7.18424481e-03,
 -1.25402515e-03,-4.63670660e-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,
  9.52233235e-02,-6.99295064e-02, 1.30433431e-01, 9.93751428e-01,
 -1.07542633e-05, 3.03419859e-04,-1.11615443e-01]

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, -1.10098967, -2.52952764, -0.10120398, 40.18834768,
  -4.32968808,  3.22172948]

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([  6.19034566,  -3.68063069,  -4.9772821 ,  -3.68063069,
        31.85232417, -18.97667518,  -4.9772821 , -18.97667518,
        20.22333227,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005709865677558934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.72197147e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.72197147e-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([ 0.10369764, -0.04760355,  0.06198236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.31160576e-06,-2.30588076e-05,-4.90501816e+00,-7.18247662e-03,
 -1.25462073e-03,-3.90190970e-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,
  9.52273839e-02,-6.99260300e-02, 1.30431568e-01, 9.93738794e-01,
 -3.34773920e-05, 3.24192289e-04,-1.11727810e-01]

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, -1.03779332,  3.25328477, -0.28048997,-40.88599256,
 -30.53977625, -1.86254363]

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([ 6.19975706, -0.62246398, -6.1684298 , -0.62246398, 43.58454498,
       -3.77254578, -6.1684298 , -3.77254578,  6.58044938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000572115614813351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70278555e-14, -1.94055711e-13,  1.00000000e+00,  1.88288095e-26,
        1.00000000e+00,  1.94055711e-13, -1.00000000e+00,  0.00000000e+00,
        9.70278555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10317734, -0.09538413,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.79642747e-05,-9.51942205e-06,-4.90502428e+00,-7.18566498e-03,
 -1.25535568e-03,-3.24618016e-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,
  9.52267088e-02,-6.99208459e-02, 1.30432420e-01, 9.93726146e-01,
 -6.31009481e-05, 3.09998257e-04,-1.11840271e-01]

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, -1.18388929,  0.42691766,  0.67881574, -1.47523321,
 -17.75924544, -0.04875953]

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([ 6.20724175,  0.24206186,  6.20252015,  0.24206186, 31.19400407,
       -0.97514267,  6.20252015, -0.97514267,  6.24529803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005730133685685116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68758397e-14, -6.91142175e-07,  1.00000000e+00,  6.69549785e-20,
        1.00000000e+00,  6.91142175e-07, -1.00000000e+00, -1.20370622e-35,
        9.68758397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344091, -0.07141083,  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:
[-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,
  8.05198793e-06, 1.58586467e-06,-4.90500112e+00,-7.18267775e-03,
 -1.26067713e-03,-4.86724120e-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,
  9.52216356e-02,-6.99257598e-02, 1.30432641e-01, 9.93714219e-01,
 -1.53794734e-05, 2.78898205e-04,-1.11946292e-01]

qacc:
[  3.8940977 , -2.37160453, 12.04985422,-26.27281789,  7.4272872 ,
   1.38361576, -3.6857769 ,  0.86579832,  6.08595289, -0.4347152 ,
   1.07274   ,  0.44225972, -0.9522269 ,  1.23676199,  4.48031176,
 -16.38065639, -1.09953359, -2.52447885, -0.15766604, 39.37430148,
  -4.0751477 ,  3.25090229]

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([ 6.20781715, -0.12577978,  6.20654278, -0.12577978, 23.33595947,
        0.34711336,  6.20654278,  0.34711336,  6.21485164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005730823804471763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84320868e-14, -9.68641737e-14,  1.00000000e+00,  4.69133407e-27,
        1.00000000e+00,  9.68641737e-14, -1.00000000e+00,  0.00000000e+00,
        4.84320868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037134 , -0.04760783,  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:
[ 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,
  1.12716380e-05, 1.40417122e-05,-4.90500443e+00,-7.18009955e-03,
 -1.25976895e-03,-4.46662837e-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,
  9.52124819e-02,-6.99179346e-02, 1.30431015e-01, 9.93701813e-01,
 -5.48554906e-05, 1.97631352e-04,-1.12056522e-01]

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, -1.02012672,  3.18475062, -0.46184316,-40.51611716,
 -29.80635015, -2.13007866]

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([ 6.1999692 , -0.50050832, -6.17973377, -0.50050832, 42.16736132,
       -2.9130671 , -6.17973377, -2.9130671 ,  6.43590401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005721410618356182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.70235401e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.70235401e-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([ 0.10316196, -0.09538668,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.30441019e-05, 2.20860280e-05,-4.90501287e+00,-7.18311153e-03,
 -1.25424621e-03,-4.39089538e-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,
  9.51988623e-02,-6.99203251e-02, 1.30429157e-01, 9.93690137e-01,
 -1.66158590e-05, 9.95684563e-05,-1.12160158e-01]

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,-1.11646819,-2.55390648,
 -0.05803499,39.55351228,-3.99110978, 3.32418085]

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([ 6.20509673,  0.23195982,  6.20075963,  0.23195982, 31.15759478,
       -0.93343032,  6.20075963, -0.93343032,  6.24001476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005727560968254997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.69193546e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.69193546e-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([ 0.10372434, -0.04760913,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.47989137e-05, 3.73012862e-05,-4.90503212e+00,-7.17980457e-03,
 -1.25305333e-03,-2.30582946e-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,
  9.51805527e-02,-6.99210503e-02, 1.30429606e-01, 9.93678406e-01,
  1.39941850e-05,-3.40753348e-05,-1.12264081e-01]

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, -1.1724789 ,  0.41630761,  0.57677995, -1.79532974,
 -18.10605522, -0.14656638]

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([ 6.19596993, -0.76054413, -6.14911506, -0.76054413, 43.70608648,
       -4.63938283, -6.14911506, -4.63938283,  6.76978508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005716613155188082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.71049636e-14, -2.47279732e-08,  1.00000000e+00,  2.40120894e-21,
        1.00000000e+00,  2.47279732e-08, -1.00000000e+00,  0.00000000e+00,
        9.71049636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344208, -0.07141335,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.96071199e-06, 4.20312685e-05,-4.90504254e+00,-7.18282361e-03,
 -1.24344671e-03,-2.58818869e-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,
  9.51582039e-02,-6.99092530e-02, 1.30427600e-01, 9.93666125e-01,
 -4.15598951e-05,-2.16761771e-04,-1.12372520e-01]

qacc:
[-4.97030819e+00,-3.29550140e-01, 3.11539799e+00,-1.04319021e+01,
  8.87929766e-01, 1.61092755e+00,-7.19087257e+00, 1.43191594e+01,
  8.24836786e-01, 3.12588173e+00,-1.35570148e+01, 2.51313803e+01,
 -2.09771453e-01,-2.73609500e-02,-1.41356636e+00, 3.17748961e+00,
 -1.00981976e+00, 3.13064721e+00,-6.13670029e-01,-4.00569243e+01,
 -2.92029182e+01,-2.27254511e+00]

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([ 6.18068535, -0.09680513, -6.1799272 , -0.09680513, 18.44254932,
       -0.1920753 , -6.1799272 , -0.1920753 ,  6.18369411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005698274243971235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.74174791e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.74174791e-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([ 0.10314789, -0.09538883,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.30859034e-06, 5.31091605e-05,-4.90506952e+00,-7.18484118e-03,
 -1.23566198e-03,-9.27743568e-07]


--- 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,
  9.51415446e-02,-6.99044680e-02, 1.30427810e-01, 9.93653787e-01,
 -5.69391074e-05,-3.45358780e-04,-1.12481241e-01]

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,  1.42236679, -1.75309241,  0.55375624, 16.9210884 ,
  29.1306914 , -0.14670305]

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([ 6.22242128, -2.1425024 ,  5.84193548, -2.1425024 , 34.45660411,
       10.35475397,  5.84193548, 10.35475397, 10.01997868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005748336909038865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65690636e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.65690636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08525171, -0.05558801,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.78726195e-05, 7.25934430e-05,-4.90512900e+00,-7.18122651e-03,
 -1.22801079e-03, 4.77908477e-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,
  9.51304818e-02,-6.99065307e-02, 1.30429440e-01, 9.93641337e-01,
 -3.21180586e-05,-4.22018049e-04,-1.12590917e-01]

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, 1.39914995,-1.7119191 ,
  0.35517595,17.05139192,28.06496182,-0.48653335]

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([ 6.2488322 ,  2.31964971, -5.80233824,  2.31964971, 47.85522678,
       16.63333936, -5.80233824, 16.63333936, 12.8984826 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005779997503440604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92080191e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92080191e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08525593, -0.05558575,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.61685856e-06, 5.26765903e-05,-4.90506303e+00,-7.18248179e-03,
 -1.21832789e-03, 5.02104711e-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,
  9.51249355e-02,-6.99153040e-02, 1.30431803e-01, 9.93628724e-01,
  3.28782193e-05,-4.48491287e-04,-1.12702073e-01]

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,  1.37909305, -1.67766344,  0.18324792, 17.13432394,
  27.19512942, -0.75163524]

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([ 6.24449603,  2.03342424, -5.90414402,  2.03342424, 61.77574878,
       19.12531185, -5.90414402, 19.12531185, 12.83137343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005774800334451546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.61265291e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.61265291e-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([ 0.08525876, -0.05558333,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.83049927e-06, 3.66461675e-05,-4.90502678e+00,-7.18580237e-03,
 -1.21206148e-03, 5.51532778e-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,
  9.51248372e-02,-6.99306752e-02, 1.30434306e-01, 9.93615896e-01,
  1.37999404e-04,-4.26198424e-04,-1.12815113e-01]

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, 1.36202469,-1.64944918,
  0.03507633,17.18619052,26.48870104,-0.95790404]

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: -0.0005740058729316599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93416666e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93416666e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08526048, -0.05558076,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.95095367e-05, 2.40024791e-05,-4.90501797e+00,-7.19122887e-03,
 -1.20908228e-03, 6.24903028e-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,
  9.51301299e-02,-6.99525523e-02, 1.30436441e-01, 9.93602803e-01,
  2.83187934e-04,-3.56283368e-04,-1.12930348e-01]

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,  1.34774145, -1.62650132, -0.09212295, 17.21907501,
  25.91897671, -1.11780266]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005682030603893357
  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([ 0.08526134, -0.05557808,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.84485424e-05, 1.43872468e-05,-4.90503488e+00,-7.19878912e-03,
 -1.20928727e-03, 7.21119062e-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,
  9.51312872e-02,-6.99612816e-02, 1.30437638e-01, 9.93589479e-01,
  3.41827491e-04,-3.39690496e-04,-1.13047400e-01]

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,
 -1.03383594e+00, 3.28696375e+00,-2.34383402e-01,-3.99870959e+01,
 -3.13778368e+01,-8.92210210e-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([ 6.17583179,  2.43990974, -5.6734239 ,  2.43990974, 28.84271145,
        9.74810653, -5.6734239 ,  9.74810653, 10.36809744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005692449495360158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75171607e-14, -1.95034321e-13,  1.00000000e+00,  1.90191933e-26,
        1.00000000e+00,  1.95034321e-13, -1.00000000e+00,  0.00000000e+00,
        9.75171607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10311138, -0.09539962,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.06735340e-05, 7.54989915e-06,-4.90507621e+00,-7.20850211e-03,
 -1.21259486e-03, 8.39350230e-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,
  9.51283511e-02,-6.99571409e-02, 1.30437159e-01, 9.93575803e-01,
  3.15027548e-04,-3.73849740e-04,-1.13167503e-01]

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, -1.02336526,  3.21751068, -0.41898628,-39.57765513,
 -30.04332219, -1.5127418 ]

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([ 6.19294377, -0.3267808 ,  6.1843162 , -0.3267808 , 36.99535174,
        1.62760688,  6.1843162 ,  1.62760688,  6.27894692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005712982745441353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.71666706e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.71666706e-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([ 0.10310494, -0.09540114,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.20808694e-05, 9.33498456e-06,-4.90501050e+00,-7.21040497e-03,
 -1.21828274e-03, 5.58205896e-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,
  9.51213589e-02,-6.99403632e-02, 1.30434364e-01, 9.93561654e-01,
  2.03753354e-04,-4.56692458e-04,-1.13291609e-01]

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, -1.01404457,  3.15924739, -0.57908883,-39.21176587,
 -28.96595035, -1.99163252]

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([ 6.17976117e+00,  9.41785484e-03,  6.17975399e+00,  9.41785484e-03,
        4.63119975e+01, -6.11609421e-02,  6.17975399e+00, -6.11609421e-02,
        6.17985438e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.000569716518278085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74364433e-14, -9.74364433e-14,  1.00000000e+00,  9.49386048e-27,
        1.00000000e+00,  9.74364433e-14, -1.00000000e+00,  0.00000000e+00,
        9.74364433e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10310027, -0.09540375,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.15413564e-05, 2.32382496e-05,-4.90500884e+00,-7.20744316e-03,
 -1.22036645e-03, 5.89680439e-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,
  9.51199644e-02,-6.99305644e-02, 1.30433620e-01, 9.93547486e-01,
  1.33412299e-04,-4.83931365e-04,-1.13415792e-01]

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 , 1.39946825,-1.74474454,
  0.51260291,17.18506027,29.94158585,-0.05442156]

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([ 6.15792822, -2.28856382,  5.71686589, -2.28856382, 30.39736036,
        9.70347889,  5.71686589,  9.70347889, 10.04240464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005670957725738696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89433654e-14, -1.95773462e-13,  1.00000000e+00,  9.58181207e-27,
        1.00000000e+00,  1.95773462e-13, -1.00000000e+00,  0.00000000e+00,
        4.89433654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08527662, -0.05556959,  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:
[-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,
  4.17391298e-05, 4.92519160e-05,-4.90506750e+00,-7.19960985e-03,
 -1.21910472e-03, 9.12602400e-06]


--- 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,
  9.51240955e-02,-6.99275893e-02, 1.30434165e-01, 9.93533228e-01,
  1.03873537e-04,-4.58020236e-04,-1.13540760e-01]

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 ,  1.3813675 , -1.70591408,  0.32242601, 17.25529718,
  28.71728014, -0.40865108]

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([ 6.18488133,  1.28110617, -6.05074574,  1.28110617, 46.03498294,
        8.43734198, -6.05074574,  8.43734198,  7.97129433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005703309306354237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73314759e-14, -1.94662952e-13,  1.00000000e+00,  1.89468324e-26,
        1.00000000e+00,  1.94662952e-13, -1.00000000e+00,  0.00000000e+00,
        9.73314759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08528193, -0.05556796,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.83048450e-05, 2.29820291e-05,-4.90502001e+00,-7.19709611e-03,
 -1.21495636e-03, 7.68607618e-06]


--- 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,
  9.51336895e-02,-6.99313080e-02, 1.30435339e-01, 9.93518818e-01,
  1.14985620e-04,-3.80938749e-04,-1.13667061e-01]

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 ,  1.3657345 , -1.67344127,  0.15734353, 17.28872479,
  27.7273858 , -0.68274742]

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([ 6.18188065,  1.04012201, -6.09375045,  1.04012201, 57.94419796,
        8.83513788, -6.09375045,  8.83513788,  7.68992097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005699708616929006
  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([ 0.08528563, -0.05556604,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17246864e-05, 8.06683114e-07,-4.90500227e+00,-7.19666435e-03,
 -1.21433456e-03, 6.56618244e-06]


--- 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,
  9.51486936e-02,-6.99416129e-02, 1.30436573e-01, 9.93504192e-01,
  1.66595036e-04,-2.54276450e-04,-1.13795115e-01]

qacc:
[-1.32437987e+00, 4.48504177e-01,-1.27579247e+00, 9.95682361e-01,
 -4.91913935e+00,-6.77358794e-01, 3.81545057e-01, 4.83101297e+00,
 -3.19385819e+00,-3.50717368e-01,-3.76339563e-01, 5.00244969e+00,
 -2.27831355e-01,-5.57658876e-02,-3.38319440e+00, 1.04050569e+01,
  1.35252916e+00,-1.64655674e+00, 1.47058208e-02, 1.72992568e+01,
  2.69311996e+01,-8.93705162e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005667255327646559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89753399e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.89753399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08528807, -0.0555639 ,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -8.05329155e-06,-1.78323312e-05,-4.90501183e+00,-7.19835062e-03,
 -1.21708895e-03, 5.73470122e-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,
  9.51596464e-02,-6.99388872e-02, 1.30436420e-01, 9.93489361e-01,
  1.33156971e-04,-1.80287727e-04,-1.13924706e-01]

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, -1.0128394 ,  3.25765159, -0.34647382,-39.25069468,
 -31.00485738, -0.75981575]

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([ 6.1455425 ,  2.37691858, -5.66727013,  2.37691858, 24.98573691,
        7.90179524, -5.66727013,  7.90179524,  9.45964674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005656084073306505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81441409e-14, -1.96288282e-13,  1.00000000e+00,  1.92645448e-26,
        1.00000000e+00,  1.96288282e-13, -1.00000000e+00,  0.00000000e+00,
        9.81441409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10307035, -0.09541827,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.10709775e-05,-3.33330400e-05,-4.90504689e+00,-7.20217841e-03,
 -1.22310084e-03, 5.16679271e-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,
  9.51665856e-02,-6.99233867e-02, 1.30434205e-01, 9.93474178e-01,
  1.54741251e-05,-1.56464496e-04,-1.14057147e-01]

qacc:
[ 2.71784203e+00,-1.79394949e+00, 8.26226935e+00,-1.56568742e+01,
  1.12256657e+00, 2.33925140e+00,-6.91435296e+00, 4.93730764e+00,
 -4.84641112e+00, 3.30756813e-02,-1.06330792e+00, 3.33963505e+00,
 -8.02091565e-01, 8.11022039e-01,-9.11976925e-02,-6.91602586e-01,
 -1.00336598e+00, 3.19367589e+00,-5.15653632e-01,-3.89908364e+01,
 -2.97184439e+01,-1.42488070e+00]

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([ 6.14648587, -0.66469842,  6.11043898, -0.66469842, 37.0742258 ,
        3.36434419,  6.11043898,  3.36434419,  6.51246191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005657217099142575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81244846e-14, -9.81244846e-14,  1.00000000e+00,  9.62841448e-27,
        1.00000000e+00,  9.81244846e-14, -1.00000000e+00,  0.00000000e+00,
        9.81244846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306406, -0.09542096,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.25733623e-05,-1.84842751e-05,-4.90501335e+00,-7.19787266e-03,
 -1.23215798e-03, 2.02718501e-06]


--- 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,
  9.51790695e-02,-6.99147579e-02, 1.30433483e-01, 9.93458937e-01,
 -6.15232505e-05,-7.80632708e-05,-1.14189886e-01]

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, 1.38615188,-1.71788382,
  0.37328295,17.09745437,29.43114171,-0.15483309]

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([ 6.143133  , -2.29267118,  5.69927556, -2.29267118, 27.828328  ,
        8.72339321,  5.69927556,  8.72339321,  9.65232851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005653190005875386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90971922e-14, -9.81943844e-14,  1.00000000e+00,  4.82106856e-27,
        1.00000000e+00,  9.81943844e-14, -1.00000000e+00,  0.00000000e+00,
        4.90971922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08529995, -0.05555798,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.17719796e-05, 7.52919746e-06,-4.90504224e+00,-7.18879896e-03,
 -1.23770154e-03, 1.88196511e-06]


--- 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,
  9.51869922e-02,-6.99163133e-02, 1.30432854e-01, 9.93444523e-01,
 -5.76304949e-05,-1.63978476e-05,-1.14315245e-01]

qacc:
[-3.78537528e+00, 1.90833686e+00,-5.44653096e+00, 4.07193287e+00,
 -5.57778850e+00,-1.41795416e+00, 4.13208053e+00,-2.18586253e+00,
 -2.70484126e+00, 1.20736498e-01, 3.33782653e-01,-4.72146213e+00,
 -1.90752212e-01,-1.10610984e-01,-1.05802700e+01, 3.49721126e+01,
 -1.14030696e+00,-2.54609017e+00, 2.32254147e-02, 4.11363552e+01,
 -3.69494357e+00, 3.70923415e+00]

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([ 6.15933304,  6.09936421,  0.85740286,  6.09936421,  6.61267389,
       -3.22496118,  0.85740286, -3.22496118, 29.10095554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005672644429217666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78576252e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.78576252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382478, -0.04764621,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.37750673e-05,-1.94769024e-05,-4.90502970e+00,-7.18526095e-03,
 -1.23983594e-03,-4.10508243e-07]


--- 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,
  9.51904646e-02,-6.99278922e-02, 1.30431616e-01, 9.93430825e-01,
  2.51673815e-05, 2.73804045e-05,-1.14434240e-01]

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, -1.11256352, -2.50583875, -0.15210867, 40.21639121,
  -4.37510446,  3.20051967]

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([  6.16932426,  -3.97866127,  -4.71495666,  -3.97866127,
        29.12786592, -19.37329804,  -4.71495666, -19.37329804,
        22.51725621,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005684638799224873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88255747e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.88255747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382983, -0.04764884,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.96647598e-06,-1.22182290e-05,-4.90500623e+00,-7.18478041e-03,
 -1.23851185e-03, 1.75492970e-07]


--- 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,
  9.51898610e-02,-6.99263916e-02, 1.30429345e-01, 9.93416791e-01,
  1.98766749e-05, 1.85136478e-05,-1.14556003e-01]

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, -1.01901832,  3.26985222, -0.25836386,-40.74271915,
 -31.18979266, -1.39405879]

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([ 6.17964245, -0.64538927, -6.14584848, -0.64538927, 40.61722616,
       -3.61636756, -6.14584848, -3.61636756,  6.55940528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005697022716928679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74388799e-14, -9.74388799e-14,  1.00000000e+00,  9.49433532e-27,
        1.00000000e+00,  9.74388799e-14, -1.00000000e+00,  0.00000000e+00,
        9.74388799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303831, -0.0954278 ,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.43438132e-05, 3.38201278e-06,-4.90502406e+00,-7.18925155e-03,
 -1.23732071e-03, 6.84710712e-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,
  9.51852228e-02,-6.99120682e-02, 1.30425314e-01, 9.93402299e-01,
 -7.21224289e-05,-4.05247005e-05,-1.14681581e-01]

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, -1.00862488,  3.20570018, -0.43991434,-40.19502061,
 -29.88716831, -1.92186855]

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([ 6.1947968 ,  0.69462155,  6.15572971,  0.69462155, 38.79392941,
       -3.67853382,  6.15572971, -3.67853382,  6.60988794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005715205803502738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.71288754e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.71288754e-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([ 0.10303235, -0.09542831,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.03322386e-06, 1.43328734e-05,-4.90500111e+00,-7.18735832e-03,
 -1.24127875e-03,-2.48543834e-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,
  9.51759110e-02,-6.99081642e-02, 1.30422005e-01, 9.93388661e-01,
 -8.40830775e-05,-1.15695117e-04,-1.14799596e-01]

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 , -1.16841318, -2.60484709,  0.18046206, 40.68040248,
  -3.42360396,  3.80381457]

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([ 6.23534756,  0.18989349,  6.23245534,  0.18989349, 31.02700802,
       -0.75536441,  6.23245534, -0.75536441,  6.25836237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005763834194899425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63094172e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.63094172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384648, -0.04765589,  0.06198219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.62584382e-05, 3.78803059e-05,-4.90504257e+00,-7.18049245e-03,
 -1.24174063e-03, 1.91476592e-06]


--- 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,
  9.51620465e-02,-6.99144733e-02, 1.30418613e-01, 9.93375754e-01,
 -1.77583371e-05,-2.08360000e-04,-1.14911132e-01]

qacc:
[-9.75751234e-02, 1.81429776e+00,-1.00977634e+01, 2.36355993e+01,
  2.84460377e+00, 3.59530308e-01,-4.83155774e+00, 1.59992237e+01,
 -6.76202278e+00,-1.81552923e+00, 7.04919367e+00,-1.04788212e+01,
 -8.42402500e-01, 1.12048867e+00,-8.00145875e-01, 5.51143888e-01,
 -1.13817602e+00,-2.55327794e+00,-2.08224859e-02, 3.98884933e+01,
 -4.19606708e+00, 3.25401600e+00]

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([  6.25993143,  -2.66919801,  -5.66234258,  -2.66919801,
        37.45659686, -14.70594121,  -5.66234258, -14.70594121,
        13.19223345,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000579329918848917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91639166e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.91639166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038521 , -0.04765781,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.40154632e-06, 3.80496139e-05,-4.90502476e+00,-7.18029146e-03,
 -1.23229871e-03, 1.66950070e-06]


--- 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,
  9.51538044e-02,-6.99277216e-02, 1.30416857e-01, 9.93362712e-01,
  8.85164598e-05,-2.49910482e-04,-1.15023706e-01]

qacc:
[  2.91315752,  1.71497449, -6.42198324,  8.74663905,  1.75583196,
  -0.82115802,  2.55626685, -2.7878393 ,  8.11114287,  0.03336091,
  -0.96607881,  4.97687848, -1.29332819,  1.92180076,  6.36591986,
 -24.26027364,  1.40559763, -1.73478193,  0.4089772 , 16.90579275,
  27.68325224, -0.5261274 ]

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([  6.29043171,  -5.25595814,  -3.45607222,  -5.25595814,
        17.29691313, -16.73854073,  -3.45607222, -16.73854073,
        31.7462277 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005829842450380956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90437912e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90437912e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08532938, -0.05554099,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.43643125e-05, 4.69953507e-05,-4.90504880e+00,-7.18496964e-03,
 -1.22299609e-03, 1.42213645e-06]


--- 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,
  9.51510969e-02,-6.99477651e-02, 1.30416008e-01, 9.93349470e-01,
  2.34840968e-04,-2.41901661e-04,-1.15137819e-01]

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, 1.38367864,-1.69882341,
  0.22676927,17.04151426,26.91842148,-0.78399329]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005828780194923472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52363091e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52363091e-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([ 0.08533171, -0.05553819,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.11329284e-05, 3.63517233e-05,-4.90504486e+00,-7.19306429e-03,
 -1.21938295e-03, 2.91590506e-06]


--- 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,
  9.51442487e-02,-6.99545175e-02, 1.30414724e-01, 9.93335898e-01,
  2.92091276e-04,-2.87262754e-04,-1.15254613e-01]

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, -1.03519674,  3.32278587, -0.10865335,-41.16874317,
 -31.63574741, -1.33309979]

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([ 6.34756848,  2.57824616, -5.8003683 ,  2.57824616, 28.25053841,
        9.73580387, -5.8003683 ,  9.73580387, 10.67510385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005898275246439266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.41142095e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.41142095e-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([ 0.1030003 , -0.09542605,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.11623980e-05, 2.89721504e-05,-4.90506742e+00,-7.20326196e-03,
 -1.21899861e-03, 4.61135215e-06]


--- 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,
  9.51333095e-02,-6.99482767e-02, 1.30412178e-01, 9.93321883e-01,
  2.61842364e-04,-3.83414639e-04,-1.15375133e-01]

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, -1.02275303,  3.24830254, -0.31559575,-40.53159169,
 -30.26911038, -1.85605707]

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([ 6.37366061,  0.46003698,  6.35703669,  0.46003698, 37.33832429,
       -2.24080667,  6.35703669, -2.24080667,  6.53582011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005929521435322355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36182655e-14, -9.36182655e-14,  1.00000000e+00,  8.76437964e-27,
        1.00000000e+00,  9.36182655e-14, -1.00000000e+00,  0.00000000e+00,
        9.36182655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299415, -0.09542627,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.63176778e-05, 3.14445846e-05,-4.90502098e+00,-7.20550337e-03,
 -1.22092500e-03, 3.83207611e-06]


--- 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,
  9.51183229e-02,-6.99292939e-02, 1.30407651e-01, 9.93307309e-01,
  1.45441704e-04,-5.28278912e-04,-1.15500175e-01]

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, -1.01186909,  3.18551431, -0.49519903,-39.97890315,
 -29.16412501, -2.2549798 ]

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([ 6.36509314,  0.80171063,  6.31440185,  0.80171063, 46.29597455,
       -5.06984077,  6.31440185, -5.06984077,  7.00878756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005919261629416528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37805333e-14, -9.37805333e-14,  1.00000000e+00,  8.79478842e-27,
        1.00000000e+00,  9.37805333e-14, -1.00000000e+00,  0.00000000e+00,
        9.37805333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10298974, -0.09542798,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.39451170e-05, 4.70725605e-05,-4.90504040e+00,-7.20272704e-03,
 -1.21926265e-03, 6.24986823e-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,
  9.51090289e-02,-6.99175026e-02, 1.30406193e-01, 9.93292742e-01,
  7.05250516e-05,-6.16173364e-04,-1.15625014e-01]

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 ,  1.4231728 , -1.79788808,  0.76723111, 17.31322451,
  30.68999188,  0.08561537]

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([ 6.40716574, -2.32202932,  5.97159549, -2.32202932, 32.86492783,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005969646898410924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39483504e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.39483504e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08535094, -0.05552982,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.10911136e-05, 7.55210057e-05,-4.90512135e+00,-7.19496021e-03,
 -1.21425812e-03, 1.16301557e-05]


--- 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,
  9.51053296e-02,-6.99127123e-02, 1.30406870e-01, 9.93278115e-01,
  3.69031970e-05,-6.49849574e-04,-1.15750431e-01]

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,
  1.39867557e+00,-1.75027039e+00, 5.33921623e-01, 1.73742435e+01,
  2.93146103e+01,-3.05003880e-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([ 6.45275142,  1.70758155, -6.22271373,  1.70758155, 40.1965421 ,
        9.25966982, -6.22271373,  9.25966982,  8.99370736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006024253379419559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21461096e-14,  9.21461096e-14,  1.00000000e+00, -8.49090552e-27,
        1.00000000e+00, -9.21461096e-14, -1.00000000e+00,  0.00000000e+00,
        9.21461096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08535686, -0.05552823,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.95039160e-05, 4.77445453e-05,-4.90504969e+00,-7.19263578e-03,
 -1.20632597e-03, 1.05176229e-05]


--- 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,
  9.51071399e-02,-6.99147634e-02, 1.30408874e-01, 9.93263366e-01,
  4.43652035e-05,-6.31540799e-04,-1.15877029e-01]

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,  1.37741512, -1.71031648,  0.33163282, 17.39482635,
  28.19544936, -0.60811252]

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([ 6.460964  ,  1.48201964, -6.28869411,  1.48201964, 51.12556086,
       10.52584348, -6.28869411, 10.52584348,  8.94152777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006034093797278317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.19958375e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.19958375e-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([ 0.08536099, -0.05552626,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.47702609e-05, 2.45236608e-05,-4.90501009e+00,-7.19238606e-03,
 -1.20200403e-03, 9.74229708e-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,
  9.51143874e-02,-6.99235227e-02, 1.30411507e-01, 9.93248434e-01,
  9.26996251e-05,-5.63052857e-04,-1.16005274e-01]

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, 1.35927119,-1.67708971,
  0.15711903,17.39071401,27.28855741,-0.84239734]

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([ 6.43906442,  1.18743177, -6.3286299 ,  1.18743177, 65.10100332,
       11.00665566, -6.3286299 , 11.00665566,  8.50422748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000600785551550756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61988068e-14, -1.84795227e-13,  1.00000000e+00, -8.53731899e-27,
        1.00000000e+00,  1.84795227e-13, -1.00000000e+00,  0.00000000e+00,
       -4.61988068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0853637 , -0.05552399,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.14914878e-06, 5.18132258e-06,-4.90499953e+00,-7.19425189e-03,
 -1.20112306e-03, 9.26823583e-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,
  9.51270111e-02,-6.99388811e-02, 1.30414169e-01, 9.93233260e-01,
  1.81709007e-04,-4.45838257e-04,-1.16135522e-01]

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,
  1.34406606e+00,-1.64974589e+00, 7.19743006e-03, 1.73733432e+01,
  2.65579331e+01,-1.02249878e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005952980267082963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.32493453e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.32493453e-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([ 0.08536528, -0.05552146,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.42814727e-05,-1.07713670e-05,-4.90501575e+00,-7.19825962e-03,
 -1.20354856e-03, 9.06657253e-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,
  9.51449612e-02,-6.99607496e-02, 1.30416345e-01, 9.93217784e-01,
  3.11219571e-04,-2.81056592e-04,-1.16268044e-01]

qacc:
[ -3.0674879 , -0.25898464,  1.21335463, -1.53088697,  0.74291501,
  -2.00454614, 11.09385703,-27.22651979,  7.91731702, -2.11068834,
   8.99233712,-15.42755697, -0.16370589, -0.36981526, -2.09562315,
   6.46750872,  1.33159471, -1.62753695, -0.12113443, 17.35096835,
  25.97413463, -1.15988432]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005875807390587628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72370413e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.72370413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08536598, -0.05551875,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.86518009e-05,-2.36827201e-05,-4.90505706e+00,-7.20442583e-03,
 -1.20917417e-03, 9.11515112e-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,
  9.51588483e-02,-6.99692314e-02, 1.30418101e-01, 9.93202189e-01,
  3.53863249e-04,-1.71036133e-04,-1.16401280e-01]

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 , -1.01575374,  3.3466967 , -0.10526105,-39.95546106,
 -32.24495178, -0.34120523]

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([ 6.36928805,  2.45634025, -5.87658258,  2.45634025, 28.42918838,
        9.22077079, -5.87658258,  9.22077079, 10.22345841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005924285153358771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37010117e-14, -1.87402023e-13,  1.00000000e+00,  1.75597592e-26,
        1.00000000e+00,  1.87402023e-13, -1.00000000e+00,  0.00000000e+00,
        9.37010117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10294236, -0.09544595,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.62900080e-05,-3.37937870e-05,-4.90512226e+00,-7.21276060e-03,
 -1.21791642e-03, 9.39790016e-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,
  9.51687220e-02,-6.99646451e-02, 1.30418603e-01, 9.93186327e-01,
  3.10750097e-04,-1.12816229e-04,-1.16536731e-01]

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, -1.00335277,  3.267012  , -0.31351999,-39.57225267,
 -30.71572961, -1.09858017]

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([ 6.39203711, -0.85165896,  6.3350466 , -0.85165896, 31.14316532,
        3.32744514,  6.3350466 ,  3.32744514,  6.83936586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000595152838555324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32720935e-14, -1.86544187e-13,  1.00000000e+00,  1.73993669e-26,
        1.00000000e+00,  1.86544187e-13, -1.00000000e+00,  0.00000000e+00,
        9.32720935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10293481, -0.09544784,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.61353522e-05,-2.85520662e-05,-4.90503297e+00,-7.21270103e-03,
 -1.22993570e-03, 3.70841673e-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,
  9.51746271e-02,-6.99472579e-02, 1.30417130e-01, 9.93170061e-01,
  1.82857912e-04,-1.04007545e-04,-1.16675558e-01]

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 , -0.99212508,  3.20022328, -0.49369685,-39.22170529,
 -29.47775745, -1.68779051]

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([ 6.38060361, -0.55679731,  6.35626299, -0.55679731, 39.37183318,
        2.88997291,  6.35626299,  2.88997291,  6.63376009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000593783597986064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34871752e-14, -9.34871752e-14,  1.00000000e+00,  8.73985192e-27,
        1.00000000e+00,  9.34871752e-14, -1.00000000e+00,  0.00000000e+00,
        9.34871752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10292929, -0.09545087,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.81718955e-05,-1.20139587e-05,-4.90501034e+00,-7.20785472e-03,
 -1.23820259e-03, 1.23131525e-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,
  9.51766036e-02,-6.99172919e-02, 1.30413060e-01, 9.93153251e-01,
 -2.89705084e-05,-1.42687572e-04,-1.16818657e-01]

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, -0.98217466,  3.14469206, -0.64922549,-38.91126494,
 -28.47925557, -2.14486903]

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([ 6.3418352 , -0.18460782,  6.33914771, -0.18460782, 49.75223925,
        1.26419205,  6.33914771,  1.26419205,  6.37865083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000589140931817389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.42238915e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.42238915e-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([ 0.10292537, -0.09545482,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.84515702e-05, 1.60544563e-05,-4.90504995e+00,-7.19819075e-03,
 -1.24301989e-03, 1.73107754e-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,
  9.51842094e-02,-6.98944911e-02, 1.30411826e-01, 9.93136502e-01,
 -1.99738895e-04,-1.22667600e-04,-1.16960821e-01]

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, 1.40733691,-1.79128228,
  0.70895936,16.96089361,31.54732803, 0.46633808]

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([ 6.32658429, -2.36444014,  5.86814209, -2.36444014, 30.25539473,
        9.64159338,  5.86814209,  9.64159338, 10.2114545 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005873144884527837
  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([ 0.08539079, -0.05550744,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.60384451e-05, 5.56911022e-05,-4.90514848e+00,-7.18369522e-03,
 -1.24461653e-03, 5.02754289e-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,
  9.51896534e-02,-6.98827539e-02, 1.30411929e-01, 9.93120362e-01,
 -2.87640920e-04,-9.71564031e-05,-1.17097627e-01]

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, -0.54047034, -2.76592919,  0.33433179, 40.82806468,
   7.57232842,  2.69147552]

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([ 6.39007387,  6.33970228,  0.80076161,  6.33970228,  6.77890375,
       -3.07840142,  0.80076161, -3.07840142, 30.76205708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005949177240966179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59191119e-07,  1.59190769e-07,  1.00000000e+00,  2.53417568e-14,
        1.00000000e+00, -1.59190769e-07, -1.00000000e+00,  0.00000000e+00,
       -1.59191119e-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([ 0.09917827, -0.04678827,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.11642226e-05, 1.83106443e-05,-4.90508972e+00,-7.17508279e-03,
 -1.24226375e-03, 1.44190869e-06]


--- 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,
  9.51905420e-02,-6.98812859e-02, 1.30412407e-01, 9.93105060e-01,
 -2.95145694e-04,-8.78809852e-05,-1.17227320e-01]

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, -1.13882436, -2.56726281,  0.09366083, 40.87312574,
  -3.35585979,  3.57512875]

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([ 6.42490597,  1.16846817, -6.31776059,  1.16846817, 36.26361731,
        5.51866186, -6.31776059,  5.51866186,  7.44558104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005990895166154422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.91500387e-08,  7.91497608e-08,  1.00000000e+00, -6.26470663e-15,
        1.00000000e+00, -7.91497608e-08, -1.00000000e+00, -7.88860905e-31,
        7.91500387e-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([ 0.10376832, -0.04766966,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.96545019e-05, 4.05492632e-06,-4.90502322e+00,-7.17001736e-03,
 -1.23750398e-03, 7.83576962e-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,
  9.51869913e-02,-6.98898998e-02, 1.30412489e-01, 9.93090483e-01,
 -2.24176399e-04,-9.60054832e-05,-1.17350900e-01]

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, -1.10984039, -2.52050447, -0.09891128, 39.98674558,
  -4.04119012,  3.07143575]

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([  6.42474861,  -3.6034161 ,  -5.31909647,  -3.6034161 ,
        33.5973237 , -18.40803133,  -5.31909647, -18.40803133,
        18.89524935,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000599070668032331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87638360e-07,  1.87638175e-07,  1.00000000e+00, -3.52081195e-14,
        1.00000000e+00, -1.87638175e-07, -1.00000000e+00,  0.00000000e+00,
        1.87638360e-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([ 0.10377361, -0.04767129,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.47801386e-06, 8.53173404e-06,-4.90499951e+00,-7.16932206e-03,
 -1.23276290e-03, 1.03137849e-06]


--- 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,
  9.51790969e-02,-6.99084382e-02, 1.30411512e-01, 9.93076521e-01,
 -7.63209565e-05,-1.22423257e-04,-1.17469158e-01]

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, -1.08592348, -2.48112059, -0.26501085, 39.25114208,
  -4.57267649,  2.67312124]

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([  6.39566715,  -3.86923611,  -5.09250138,  -3.86923611,
        39.19613735, -24.92149814,  -5.09250138, -24.92149814,
        25.33079417,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005955875724456124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50032921e-07,  1.50033201e-07,  1.00000000e+00, -2.25099194e-14,
        1.00000000e+00, -1.50033201e-07, -1.00000000e+00,  0.00000000e+00,
        1.50032921e-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([ 0.10377828, -0.0476714 ,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.55577610e-05, 2.15147961e-05,-4.90501712e+00,-7.17353550e-03,
 -1.22817442e-03, 1.24796651e-06]


--- 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,
  9.51766967e-02,-6.99337708e-02, 1.30411157e-01, 9.93062341e-01,
  1.10593205e-04,-1.00868317e-04,-1.17588962e-01]

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,  1.37357571, -1.69853158,  0.15585221, 16.57638867,
  26.1144309 , -0.78071606]

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([  6.34610691,  -5.59423686,  -2.99626215,  -5.59423686,
        13.73576816, -13.79702887,  -2.99626215, -13.79702887,
        32.1061518 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005896524939916631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41421461e-14, -9.41421461e-14,  1.00000000e+00,  8.86274367e-27,
        1.00000000e+00,  9.41421461e-14, -1.00000000e+00,  0.00000000e+00,
        9.41421461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08540902, -0.05549235,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.82962080e-05, 4.24311380e-05,-4.90507385e+00,-7.18257731e-03,
 -1.22354414e-03, 1.38818631e-06]


--- 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,
  9.51702291e-02,-6.99457005e-02, 1.30410661e-01, 9.93047883e-01,
  2.07198040e-04,-1.34048873e-04,-1.17710834e-01]

qacc:
[-6.88581680e+00, 9.22067840e-01,-4.61305647e+00, 1.02393456e+01,
  5.76758673e-01,-2.78761255e+00, 1.50641004e+01,-3.59173813e+01,
  2.26473526e-01,-1.14037056e+00, 2.59002260e+00,-2.27485882e-01,
  2.33840981e-01,-9.69598103e-01,-1.06433063e+00, 2.07153594e+00,
 -1.01688977e+00, 3.35069783e+00,-3.53385786e-02,-4.16233404e+01,
 -3.24876986e+01,-1.03582153e+00]

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([ 6.36255588,  2.65788194, -5.78081144,  2.65788194, 28.5717567 ,
       10.21127128, -5.78081144, 10.21127128, 11.05745967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005916223187297925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38286969e-14, -1.87657394e-13,  1.00000000e+00,  1.76076487e-26,
        1.00000000e+00,  1.87657394e-13, -1.00000000e+00,  0.00000000e+00,
        9.38286969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1028786 , -0.09546425,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.04558810e-05, 3.73070628e-05,-4.90511009e+00,-7.19518821e-03,
 -1.22423275e-03, 3.53114836e-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,
  9.51597409e-02,-6.99445391e-02, 1.30409157e-01, 9.93033026e-01,
  2.15267100e-04,-2.19060759e-04,-1.17835964e-01]

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, -1.00512897,  3.27280825, -0.25223676,-40.90975439,
 -30.94667053, -1.62991835]

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([ 6.40056699,  0.68427397,  6.36388458,  0.68427397, 32.62979071,
       -2.82028607,  6.36388458, -2.82028607,  6.70381705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005961743871807923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31122712e-14, -9.31122712e-14,  1.00000000e+00,  8.66989505e-27,
        1.00000000e+00,  9.31122712e-14, -1.00000000e+00,  0.00000000e+00,
        9.31122712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10287139, -0.09546357,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.15877499e-05, 3.47509394e-05,-4.90503624e+00,-7.19964619e-03,
 -1.22744761e-03, 1.58490451e-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,
  9.51452739e-02,-6.99305500e-02, 1.30405889e-01, 9.93017650e-01,
  1.36316999e-04,-3.53563859e-04,-1.17965261e-01]

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, -0.99469519,  3.20690562, -0.44066266,-40.29092864,
 -29.70070429, -2.08433039]

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([ 6.40120074,  0.98085676,  6.32560598,  0.98085676, 40.33246422,
       -5.26142621,  6.32560598, -5.26142621,  7.21704439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005962502876848685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31004184e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.31004184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10286614, -0.09546458,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.81631449e-06, 4.55572178e-05,-4.90503088e+00,-7.19906766e-03,
 -1.22691532e-03, 2.98193543e-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,
  9.51364161e-02,-6.99237153e-02, 1.30405212e-01, 9.93002291e-01,
  9.81236599e-05,-4.31998655e-04,-1.18094258e-01]

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,  1.40227974, -1.78861664,  0.64735145, 16.92908751,
  30.24237284,  0.13845436]

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([ 6.39013485, -2.2498702 ,  5.98096209, -2.2498702 , 31.01480554,
        9.26311052,  5.98096209,  9.26311052,  9.87465724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005949250264198763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66539049e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.66539049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08542527, -0.0554806 ,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.14883410e-05, 6.93859593e-05,-4.90508896e+00,-7.19347928e-03,
 -1.22292248e-03, 7.44866410e-06]


--- 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,
  9.51330787e-02,-6.99238553e-02, 1.30406257e-01, 9.92986871e-01,
  1.00657180e-04,-4.56960414e-04,-1.18223750e-01]

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,  1.38011334, -1.74364252,  0.43086359, 17.06339907,
  28.9541905 , -0.26090748]

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([ 6.41927356,  1.96914879, -6.10978936,  1.96914879, 40.67461111,
       11.04029168, -6.10978936, 11.04029168,  9.97749394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000598414868197894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27636564e-14, -9.27636564e-14,  1.00000000e+00,  8.60509595e-27,
        1.00000000e+00,  9.27636564e-14, -1.00000000e+00,  0.00000000e+00,
        9.27636564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08543073, -0.05547839,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.78094963e-05, 4.39234776e-05,-4.90503126e+00,-7.19337923e-03,
 -1.21579988e-03, 6.93053144e-06]


--- 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,
  9.51351850e-02,-6.99308198e-02, 1.30408277e-01, 9.92971319e-01,
  1.43841641e-04,-4.30551061e-04,-1.18354354e-01]

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,
  1.36092657e+00,-1.70613635e+00, 2.43513088e-01, 1.71460354e+01,
  2.79082875e+01,-5.71452434e-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([ 6.41473713,  1.73207418, -6.17646917,  1.73207418, 51.90169025,
       12.75595733, -6.17646917, 12.75595733,  9.99190456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005978715170507076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64239804e-14, -9.28479609e-14,  1.00000000e+00,  4.31037192e-27,
        1.00000000e+00,  9.28479609e-14, -1.00000000e+00,  0.00000000e+00,
        4.64239804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08543451, -0.05547594,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.06476064e-06, 2.28865860e-05,-4.90500440e+00,-7.19531662e-03,
 -1.21222574e-03, 6.69510506e-06]


--- 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,
  9.51426697e-02,-6.99444849e-02, 1.30410625e-01, 9.92955569e-01,
  2.27580339e-04,-3.54466072e-04,-1.18486546e-01]

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,  1.3446081 , -1.6751517 ,  0.08212634, 17.19460614,
  27.06296941, -0.81208447]

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([ 6.38320987,  1.42403487, -6.22233822,  1.42403487, 66.35138893,
       13.72422632, -6.22233822, 13.72422632,  9.52411545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005940957121494672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67190304e-14, -9.34380607e-14,  1.00000000e+00, -4.36533560e-27,
        1.00000000e+00,  9.34380607e-14, -1.00000000e+00,  0.00000000e+00,
       -4.67190304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08543695, -0.05547329,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.88132306e-05, 5.64161917e-06,-4.90500568e+00,-7.19933954e-03,
 -1.21204379e-03, 6.72049849e-06]


--- 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,
  9.51462057e-02,-6.99450270e-02, 1.30411785e-01, 9.92939627e-01,
  2.25388382e-04,-3.31271760e-04,-1.18620139e-01]

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, -0.98719098,  3.28074927, -0.29691444,-39.52947145,
 -31.3500527 , -0.68642005]

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([ 6.36978775,  2.44937491, -5.88003048,  2.44937491, 25.20616625,
        7.8464479 , -5.88003048,  7.8464479 ,  9.63828995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005924883555403215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.3691548e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.3691548e-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([ 0.10283465, -0.09547668,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.18747477e-05,-8.26487273e-06,-4.90503309e+00,-7.20548058e-03,
 -1.21512997e-03, 6.98881343e-06]


--- 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,
  9.51458291e-02,-6.99327191e-02, 1.30411031e-01, 9.92923339e-01,
  1.38251078e-04,-3.58351032e-04,-1.18756454e-01]

qacc:
[ -4.5599682 , -0.7686779 ,  4.95357435,-11.79906256,  0.34348532,
  -2.55284067, 10.11843284,-15.69710356, -5.52511889, -1.22419958,
   2.59051664,  1.15641609, -0.48682998,  0.45267748, -4.2028893 ,
  12.22453208, -0.97813659,  3.21249667, -0.47863424,-39.19148286,
 -29.99779599, -1.35166648]

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([ 6.3633863 , -0.52328784,  6.34183373, -0.52328784, 35.41063676,
        2.39679462,  6.34183373,  2.39679462,  6.56115457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005917217636037947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.3812928e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.3812928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10282821, -0.09547953,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.95311704e-07, 3.59979291e-06,-4.90499937e+00,-7.20336286e-03,
 -1.22143945e-03, 4.97548898e-06]


--- 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,
  9.51509293e-02,-6.99273721e-02, 1.30411896e-01, 9.92907019e-01,
  9.19484129e-05,-3.30877054e-04,-1.18892950e-01]

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, 1.36919045,-1.74023897,
  0.40478254,17.03352763,29.50826855,-0.10312706]

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([ 6.34760273, -2.30457175,  5.91447457, -2.30457175, 28.27257926,
        8.54305498,  5.91447457,  8.54305498,  9.67639938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005898316257583747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70567776e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.70567776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08544875, -0.05546604,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.85594559e-05, 2.70146387e-05,-4.90502844e+00,-7.19644873e-03,
 -1.22415825e-03, 6.02012016e-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,
  9.51614422e-02,-6.99288391e-02, 1.30413655e-01, 9.92890587e-01,
  8.63706786e-05,-2.51151973e-04,-1.19030299e-01]

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, 1.3531622 ,-1.70347566,
  0.22346391,17.11175511,28.36113898,-0.43899131]

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([ 6.34541061,  1.28822645, -6.21326874,  1.28822645, 48.1111472 ,
        8.65948806, -6.21326874,  8.65948806,  8.1408233 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005895691082038468
  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([ 0.0854533 , -0.05546381,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.04939056e-05, 1.29691302e-06,-4.90500605e+00,-7.19517037e-03,
 -1.22332175e-03, 4.59761240e-06]


--- 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,
  9.51773132e-02,-6.99369980e-02, 1.30415682e-01, 9.92873968e-01,
  1.21391390e-04,-1.21023797e-04,-1.19169017e-01]

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,
  1.33955000e+00,-1.67299165e+00, 6.70056385e-02, 1.71549960e+01,
  2.74385193e+01,-6.98205315e-01]

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([ 6.31669985,  1.02195098, -6.23348323,  1.02195098, 60.74465152,
        8.92321296, -6.23348323,  8.92321296,  7.77961968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005861306646507691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73539047e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.73539047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08545637, -0.05546135,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.41670954e-07,-2.04705885e-05,-4.90501183e+00,-7.19596199e-03,
 -1.22595760e-03, 3.47087434e-06]


--- 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,
  9.51892944e-02,-6.99320798e-02, 1.30416314e-01, 9.92857168e-01,
  7.12691718e-05,-4.33895391e-05,-1.19308997e-01]

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, -0.97246238,  3.26929148, -0.34874143,-39.14034093,
 -31.13320956, -0.62878489]

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([ 6.32572215,  2.3956112 , -5.85455444,  2.3956112 , 23.97885339,
        7.22344277, -5.85455444,  7.22344277,  9.28146552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005872112358709797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45335304e-14, -9.45335304e-14,  1.00000000e+00,  8.93658837e-27,
        1.00000000e+00,  9.45335304e-14, -1.00000000e+00,  0.00000000e+00,
        9.45335304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10280134, -0.09549255,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.49171061e-05,-3.87907957e-05,-4.90504370e+00,-7.19885808e-03,
 -1.23192702e-03, 2.61271635e-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,
  9.51974212e-02,-6.99143473e-02, 1.30414855e-01, 9.92840021e-01,
 -6.31868008e-05,-1.56533958e-05,-1.19451612e-01]

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, -0.96361091,  3.20357359, -0.52254879,-38.88908418,
 -29.80183971, -1.32537861]

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([ 6.31365313, -0.7367331 ,  6.27052152, -0.7367331 , 35.3321067 ,
        3.40942217,  6.27052152,  3.40942217,  6.71423132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005857657563072133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47668085e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.47668085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10279491, -0.09549593,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.17856972e-05,-2.06252341e-05,-4.90501841e+00,-7.19332042e-03,
 -1.24145945e-03,-3.58424909e-07]


--- 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,
  9.52007390e-02,-6.99069838e-02, 1.30414289e-01, 9.92823871e-01,
 -1.16026992e-04,-3.30327235e-06,-1.19585730e-01]

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,
 -1.20222709e+00,-2.59225291e+00, 2.22924417e-01, 4.14347477e+01,
 -2.76362054e+00, 4.27616353e+00]

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([ 6.32163999,  0.11566112,  6.32058183,  0.11566112, 30.28453011,
       -0.43849993,  6.32058183, -0.43849993,  6.32966416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005867223355035533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89224605e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89224605e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10406748, -0.04774409,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.40612247e-05, 8.48919727e-06,-4.90505548e+00,-7.18304312e-03,
 -1.24746108e-03,-3.42172939e-07]


--- 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,
  9.51993839e-02,-6.99097850e-02, 1.30413780e-01, 9.92808582e-01,
 -8.93708125e-05,-7.89410409e-06,-1.19712619e-01]

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,
 -1.16823690e+00,-2.54119210e+00, 1.45018401e-02, 4.04759578e+01,
 -3.65679459e+00, 3.63969116e+00]

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([  6.34818067,  -3.21089623,  -5.47627092,  -3.21089623,
        29.59096066, -13.62791501,  -5.47627092, -13.62791501,
        14.3386219 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005899008371010594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88205026e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88205026e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10407381, -0.04774712,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.32749812e-05, 7.62189385e-06,-4.90500774e+00,-7.17958598e-03,
 -1.24207105e-03,-1.53549374e-07]


--- 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,
  9.51934685e-02,-6.99225777e-02, 1.30412608e-01, 9.92794029e-01,
  1.50218250e-05,-3.06217279e-05,-1.19833275e-01]

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, -1.14007691, -2.49784352, -0.16592297, 39.67437031,
  -4.35043953,  3.13634038]

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([  6.34159335,  -3.44347225,  -5.32525164,  -3.44347225,
        35.21923211, -18.6731735 ,  -5.32525164, -18.6731735 ,
        18.4162443 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005891119683233137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4228524e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4228524e-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([ 0.10407929, -0.04774839,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.40670585e-06, 1.57262960e-05,-4.90500286e+00,-7.18108255e-03,
 -1.23702372e-03, 5.03110825e-08]


--- 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,
  9.51836047e-02,-6.99222397e-02, 1.30410505e-01, 9.92779096e-01,
  3.00887373e-05,-1.05853867e-04,-1.19956883e-01]

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, -0.98709875,  3.28264971, -0.23270486,-41.19517177,
 -31.41520968, -1.48618157]

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([ 6.32366864, -0.60171975, -6.29497565, -0.60171975, 41.07039645,
       -3.32134602, -6.29497565, -3.32134602,  6.64114715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005869652975789286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45731399e-14, -1.89146280e-13,  1.00000000e+00,  1.78881576e-26,
        1.00000000e+00,  1.89146280e-13, -1.00000000e+00,  0.00000000e+00,
        9.45731399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10276927, -0.09550136,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.50486565e-05, 3.20714172e-05,-4.90503836e+00,-7.18745024e-03,
 -1.23206701e-03, 2.01901257e-07]


--- 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,
  9.51701208e-02,-6.99096070e-02, 1.30407265e-01, 9.92763686e-01,
 -3.90327552e-05,-2.27713712e-04,-1.20084179e-01]

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, -0.90500881,  3.07368379, -0.28421566,-38.99377527,
 -28.19507658, -1.85363954]

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([ 6.33377696,  0.41987031,  6.31984489,  0.41987031, 37.06816507,
       -2.04189459,  6.31984489, -2.04189459,  6.46943392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005881758930723207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89918732e-07, -8.89918720e-07,  1.00000000e+00,  7.91955339e-13,
        1.00000000e+00,  8.89918720e-07, -1.00000000e+00,  1.00974196e-28,
        8.89918732e-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([ 0.10208724, -0.09393398,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -8.67596350e-07, 4.14463932e-05,-4.90502550e+00,-7.18724061e-03,
 -1.23216847e-03, 1.13009090e-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,
  9.51622327e-02,-6.99041326e-02, 1.30406532e-01, 9.92748275e-01,
 -6.75403715e-05,-2.94486335e-04,-1.20211360e-01]

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, 1.3989412 ,-1.78959013,
  0.62678175,16.85245184,29.78283707, 0.05283265]

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([ 6.39339493, -2.1675093 ,  6.01476535, -2.1675093 , 31.16324591,
        8.92618069,  6.01476535,  8.92618069,  9.61007564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005953154505452113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86493232e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86493232e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08549193, -0.05544002,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.81077480e-05, 6.21863032e-05,-4.90507289e+00,-7.18230048e-03,
 -1.22878064e-03, 4.99687265e-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,
  9.51598507e-02,-6.99056381e-02, 1.30407450e-01, 9.92732786e-01,
 -5.54329949e-05,-3.08569112e-04,-1.20339174e-01]

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,  1.37650042, -1.74496448,  0.41275733, 16.99317736,
  28.5950787 , -0.32277935]

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([ 6.41860535,  2.22170441, -6.02183727,  2.22170441, 42.6629061 ,
       13.37201907, -6.02183727, 13.37201907, 11.35209531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005983348326157323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27760648e-14, -3.71104259e-13,  1.00000000e+00,  3.44295928e-26,
        1.00000000e+00,  3.71104259e-13, -1.00000000e+00,  0.00000000e+00,
        9.27760648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08549681, -0.05543764,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.40037786e-05, 3.83025557e-05,-4.90502276e+00,-7.18266656e-03,
 -1.22247828e-03, 4.57134392e-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,
  9.51628973e-02,-6.99139749e-02, 1.30409279e-01, 9.92717150e-01,
 -2.75993996e-06,-2.71905507e-04,-1.20468198e-01]

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 , 1.35716675,-1.7078108 ,
  0.22767454,17.08185987,27.62962895,-0.61463586]

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([ 6.41093059,  1.96336952, -6.10288548,  1.96336952, 54.83393125,
       15.57824476, -6.10288548, 15.57824476, 11.42263384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005974156012874682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64594088e-14, -9.29188175e-14,  1.00000000e+00,  4.31695332e-27,
        1.00000000e+00,  9.29188175e-14, -1.00000000e+00,  0.00000000e+00,
        4.64594088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08550013, -0.05543506,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.15873793e-06, 1.86142769e-05,-4.90500249e+00,-7.18507349e-03,
 -1.21967176e-03, 4.41393404e-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,
  9.51713070e-02,-6.99290203e-02, 1.30411382e-01, 9.92701298e-01,
  9.04049833e-05,-1.86063932e-04,-1.20598879e-01]

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, 1.34079223,-1.67717226,
  0.06833576,17.13606987,26.84887246,-0.84055082]

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: -0.0005933442490120427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35563989e-14, -9.35563989e-14,  1.00000000e+00,  8.75279977e-27,
        1.00000000e+00,  9.35563989e-14, -1.00000000e+00,  0.00000000e+00,
        9.35563989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08550221, -0.0554323 ,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.34480147e-05, 2.55590825e-06,-4.90500965e+00,-7.18956645e-03,
 -1.22021738e-03, 4.50665984e-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,
  9.51758281e-02,-6.99308883e-02, 1.30412398e-01, 9.92685249e-01,
  9.71154738e-05,-1.53158795e-04,-1.20730959e-01]

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,
 -9.72160296e-01, 3.29436215e+00,-2.71460353e-01,-3.97197976e+01,
 -3.14882716e+01,-6.95763452e-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([ 6.33733779,  2.42867521, -5.85349357,  2.42867521, 25.68889796,
        8.02916309, -5.85349357,  8.02916309,  9.66872086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005886023336999918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43101107e-14, -9.43101107e-14,  1.00000000e+00,  8.89439697e-27,
        1.00000000e+00,  9.43101107e-14, -1.00000000e+00,  0.00000000e+00,
        9.43101107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10272982, -0.09551109,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.69156461e-05,-1.02763786e-05,-4.90504244e+00,-7.19617611e-03,
 -1.22400106e-03, 4.83462546e-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,
  9.51764964e-02,-6.99198556e-02, 1.30411591e-01, 9.92668845e-01,
  1.84171679e-05,-1.70521482e-04,-1.20865770e-01]

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, -0.96320821,  3.2251801 , -0.45581835,-39.35777704,
 -30.10596658, -1.36820403]

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([ 6.33750297, -0.40602139,  6.32448342, -0.40602139, 34.94924028,
        1.83682627,  6.32448342,  1.83682627,  6.45542418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005886221155956273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.43069412e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.43069412e-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([ 0.10272318, -0.0955135 ,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.69305262e-06,-1.07820981e-07,-4.90500032e+00,-7.19454058e-03,
 -1.23093320e-03, 2.34159256e-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,
  9.51826192e-02,-6.99157860e-02, 1.30412312e-01, 9.92652400e-01,
 -1.94763620e-05,-1.33689752e-04,-1.21000802e-01]

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,  1.36362409, -1.74078027,  0.38189259, 16.97767159,
  29.36449978, -0.11604032]

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([ 6.33352137, -2.26127719,  5.91608979, -2.26127719, 28.17620751,
        8.34881988,  5.91608979,  8.34881988,  9.52464873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005881452834684137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71916997e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.71916997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0855132 , -0.05542482,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.47367796e-05, 2.17065699e-05,-4.90502175e+00,-7.18809118e-03,
 -1.23425661e-03, 2.93685885e-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,
  9.51941340e-02,-6.99185352e-02, 1.30413848e-01, 9.92635832e-01,
 -1.66610144e-05,-4.48912142e-05,-1.21136709e-01]

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,  1.34801488, -1.7047043 ,  0.20397807, 17.06081017,
  28.25539219, -0.44372957]

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([ 6.3288898 ,  1.30533744, -6.1928136 ,  1.30533744, 49.51189148,
        9.10222599, -6.1928136 ,  9.10222599,  8.24748079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000587590602345589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44724967e-14,  9.44724967e-14,  1.00000000e+00, -8.92505263e-27,
        1.00000000e+00, -9.44724967e-14, -1.00000000e+00,  0.00000000e+00,
        9.44724967e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08551755, -0.05542255,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.62567419e-05,-2.96424969e-06,-4.90500486e+00,-7.18722887e-03,
 -1.23407572e-03, 1.58600569e-06]


--- 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,
  9.52010728e-02,-6.99311661e-02, 1.30414629e-01, 9.92620075e-01,
  6.58106075e-05, 2.60845047e-05,-1.21265752e-01]

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, -1.14401645, -2.47042266, -0.18904543, 40.6144959 ,
  -4.02117398,  3.45357614]

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([ 6.30889933,  6.19761004,  1.17976294,  6.19761004,  7.04269138,
       -3.8548058 ,  1.17976294, -3.8548058 , 26.55922451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005851963754303774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.48590141e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.48590141e-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([ 0.10414437, -0.0477722 ,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.28700437e-06,-2.37689559e-05,-4.90501577e+00,-7.18843432e-03,
 -1.23735075e-03, 5.21751919e-07]


--- 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,
  9.52041349e-02,-6.99306295e-02, 1.30414381e-01, 9.92604053e-01,
  6.07771564e-05, 4.45063308e-05,-1.21396820e-01]

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, -0.96916555,  3.29189135, -0.25717809,-40.24311748,
 -31.38877212, -1.0207449 ]

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([ 6.33787711, -0.82793408, -6.28356677, -0.82793408, 38.84798369,
       -4.28359024, -6.28356677, -4.28359024,  6.90229068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005886669219856144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4299763e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4299763e-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([ 0.10269597, -0.09552315,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.98752021e-05,-6.35645524e-06,-4.90503071e+00,-7.19261055e-03,
 -1.23739953e-03, 1.20536275e-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,
  9.52033583e-02,-6.99171964e-02, 1.30412359e-01, 9.92587621e-01,
 -3.05192531e-05, 1.29787330e-05,-1.21531122e-01]

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,
 -9.59692761e-01, 3.22410924e+00,-4.43305731e-01,-3.97805462e+01,
 -3.00261139e+01,-1.62959668e+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([ 6.34114332,  0.1268126 ,  6.33987517,  0.1268126 , 36.47765257,
       -0.60280196,  6.33987517, -0.60280196,  6.35320079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005890580746209101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.42371451e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.42371451e-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([ 0.10268964, -0.09552481,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.13956188e-06, 5.10662707e-06,-4.90499931e+00,-7.19038966e-03,
 -1.24336469e-03,-6.32829216e-07]


--- 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,
  9.51977811e-02,-6.99140534e-02, 1.30410880e-01, 9.92572141e-01,
 -4.16983341e-05,-3.45595360e-05,-1.21657474e-01]

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, -1.20013176, -2.57252665,  0.13571546, 40.73459481,
  -3.07775008,  4.00304231]

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([ 6.33276335,  0.21978361,  6.32894832,  0.21978361, 29.92300924,
       -0.81921183,  6.32894832, -0.81921183,  6.36121189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00058805450320501
  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([ 0.10416271, -0.04777981,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.97150642e-05, 2.86604299e-05,-4.90503200e+00,-7.18328042e-03,
 -1.24577075e-03, 6.24205572e-07]


--- 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,
  9.51875287e-02,-6.99210043e-02, 1.30409155e-01, 9.92557476e-01,
  2.53975604e-05,-9.95694536e-05,-1.21777038e-01]

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, -1.1687986 , -2.52347862, -0.06173129, 39.90969273,
  -3.90969547,  3.41668816]

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([  6.34447778,  -2.95473635,  -5.61443955,  -2.95473635,
        33.83082896, -14.46536566,  -5.61443955, -14.46536566,
        13.95723083,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005894573970686434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8834661e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8834661e-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([ 0.10416884, -0.04778171,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.16767718e-06, 3.04933687e-05,-4.90501193e+00,-7.18291415e-03,
 -1.23766522e-03, 5.25173979e-07]


--- 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,
  9.51736823e-02,-6.99155171e-02, 1.30406688e-01, 9.92542381e-01,
  7.37930795e-06,-2.12258460e-04,-1.21899862e-01]

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, -0.89849652,  3.10953081, -0.18528711,-39.33738924,
 -28.84465511, -1.63884913]

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([ 6.34433935, -0.71827108, -6.30354887, -0.71827108, 39.39380315,
       -3.76589039, -6.30354887, -3.76589039,  6.77345162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00058944081873089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.17205528e-07, -8.17205569e-07,  1.00000000e+00,  6.67824909e-13,
        1.00000000e+00,  8.17205569e-07, -1.00000000e+00,  0.00000000e+00,
        8.17205528e-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([ 0.10200321, -0.09396076,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.79393604e-05, 4.10366432e-05,-4.90503351e+00,-7.18742725e-03,
 -1.22977281e-03, 4.31209133e-07]


--- 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,
  9.51653721e-02,-6.99171305e-02, 1.30406293e-01, 9.92527236e-01,
  2.98785008e-05,-2.71526116e-04,-1.22022992e-01]

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,  1.38402114, -1.77515759,  0.51799768, 16.85158091,
  28.98100622, -0.15967387]

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([ 6.38484615, -2.10194341,  6.02893807, -2.10194341, 30.29906666,
        8.33751112,  6.02893807,  8.33751112,  9.291656  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005942916664094522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67036258e-14, -1.86814503e-13,  1.00000000e+00,  8.72491466e-27,
        1.00000000e+00,  1.86814503e-13, -1.00000000e+00,  0.00000000e+00,
        4.67036258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08554703, -0.0554038 ,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.12363023e-05, 5.44982076e-05,-4.90505116e+00,-7.18560200e-03,
 -1.22712273e-03, 3.21531149e-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,
  9.51625120e-02,-6.99256809e-02, 1.30407174e-01, 9.92511966e-01,
  9.29287153e-05,-2.79460636e-04,-1.22147087e-01]

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 , 1.36254479,-1.73423883,
  0.31891235,16.9919563 ,27.94881481,-0.49252267]

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([ 6.3944287 ,  2.36703329, -5.94019122,  2.36703329, 48.10700496,
       16.62152834, -5.94019122, 16.62152834, 13.01773584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000595439254582858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32272281e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.32272281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08555091, -0.05540119,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.11801698e-06, 3.56090741e-05,-4.90501818e+00,-7.18893018e-03,
 -1.22172442e-03, 3.56616731e-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,
  9.51650285e-02,-6.99410329e-02, 1.30408644e-01, 9.92496500e-01,
  1.96516346e-04,-2.37754502e-04,-1.22272655e-01]

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,
  1.34416144e+00,-1.70038891e+00, 1.47090219e-01, 1.70850082e+01,
  2.71101395e+01,-7.51346002e-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([ 6.37452082,  2.06417044, -6.0310626 ,  2.06417044, 62.34579113,
       19.15653168, -6.0310626 , 19.15653168, 12.93096851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000593055156982783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.6801002e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.6801002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08555346, -0.05539842,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.25779643e-05, 2.05750993e-05,-4.90501370e+00,-7.19432047e-03,
 -1.21971618e-03, 4.15189398e-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,
  9.51636696e-02,-6.99431851e-02, 1.30409135e-01, 9.92480775e-01,
  2.12806857e-04,-2.48497202e-04,-1.22400179e-01]

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, -0.96886038,  3.29993501, -0.24440153,-40.11472128,
 -31.36489006, -0.97058199]

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([ 6.394994  ,  2.45263462, -5.90597423,  2.45263462, 26.24683632,
        8.2440786 , -5.90597423,  8.2440786 ,  9.81859725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005955069547590591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.32166296e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.32166296e-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([ 0.10264522, -0.09553195,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.42044193e-05, 8.93663417e-06,-4.90503569e+00,-7.20181265e-03,
 -1.22097592e-03, 4.96273722e-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,
  9.51584728e-02,-6.99324171e-02, 1.30407891e-01, 9.92464646e-01,
  1.43017472e-04,-3.09117418e-04,-1.22530857e-01]

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, -0.95948416,  3.23005255, -0.43392082,-39.66416177,
 -30.01972169, -1.5741076 ]

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([ 6.39572164, -0.0806109 ,  6.39521361, -0.0806109 , 36.6428055 ,
        0.38126084,  6.39521361,  0.38126084,  6.40052738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005955940973821072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86405982e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86405982e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10263901, -0.09553396,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.91318156e-06, 1.75277706e-05,-4.90500229e+00,-7.20116467e-03,
 -1.22513986e-03, 3.73661377e-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,
  9.51497482e-02,-6.99095152e-02, 1.30404830e-01, 9.92447998e-01,
 -8.45044307e-06,-4.14271870e-04,-1.22665397e-01]

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, -0.88192758,  3.0334747 , -0.45444231,-37.80367749,
 -27.10375366, -1.93215473]

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([ 6.36638203, -0.4650237 ,  6.34937581, -0.4650237 , 42.4659617 ,
        2.64390718,  6.34937581,  2.64390718,  6.56001989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005920805111835487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.94863091e-07, -4.94863202e-07,  1.00000000e+00,  2.44889534e-13,
        1.00000000e+00,  4.94863202e-07, -1.00000000e+00,  5.04870979e-29,
        4.94863091e-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([ 0.10196831, -0.09397021,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.99061939e-05, 3.83321799e-05,-4.90503242e+00,-7.19563567e-03,
 -1.22572676e-03, 5.60758113e-06]


--- 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,
  9.51465791e-02,-6.98938367e-02, 1.30404611e-01, 9.92431381e-01,
 -1.18288063e-04,-4.62431816e-04,-1.22799534e-01]

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,
  1.38884715e+00,-1.80585294e+00, 7.10836146e-01, 1.71624084e+01,
  3.08353445e+01, 1.93124590e-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([ 6.44232154, -2.28794006,  6.02236142, -2.28794006, 31.91476004,
        9.67716956,  6.02236142,  9.67716956, 10.1187505 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006011757521230815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61688209e-14, -9.23376418e-14,  1.00000000e+00,  4.26312004e-27,
        1.00000000e+00,  9.23376418e-14, -1.00000000e+00,  0.00000000e+00,
        4.61688209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0855737 , -0.05538987,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.06043818e-05, 6.90652351e-05,-4.90511660e+00,-7.18551685e-03,
 -1.22301691e-03, 1.01052851e-05]


--- 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,
  9.51488791e-02,-6.98851936e-02, 1.30406331e-01, 9.92414717e-01,
 -1.86698817e-04,-4.56409555e-04,-1.22934074e-01]

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,
  1.36729820e+00,-1.75884491e+00, 4.84562460e-01, 1.72297903e+01,
  2.94296748e+01,-2.09102391e-01]

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([ 6.47773834,  1.49011522, -6.30401862,  1.49011522, 39.41552907,
        7.78568501, -6.30401862,  7.78568501,  8.31808312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006054196389908978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29225927e-14, -4.58451854e-14,  1.00000000e+00, -1.05089051e-27,
        1.00000000e+00,  4.58451854e-14, -1.00000000e+00,  0.00000000e+00,
       -2.29225927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08557979, -0.05538818,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.69810145e-05, 3.76379337e-05,-4.90504947e+00,-7.18095795e-03,
 -1.21706548e-03, 8.12824036e-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,
  9.51565737e-02,-6.98834281e-02, 1.30409206e-01, 9.92397934e-01,
 -2.13904674e-04,-3.98479201e-04,-1.23069640e-01]

qacc:
[ 2.26633632e-01,-1.26182630e+00, 7.71890832e+00,-1.91510480e+01,
  9.70237306e-01, 1.27950904e+00,-5.77448856e+00, 1.20608969e+01,
  2.95653912e+00,-3.07008612e-01, 8.04859325e-01,-8.62035920e-01,
 -3.68993894e-01, 2.48429942e-02, 5.50902114e+00,-1.97291837e+01,
  1.34863848e+00,-1.71941077e+00, 2.88660088e-01, 1.72552912e+01,
  2.82899888e+01,-5.20565914e-01]

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([ 6.47745008,  1.26998314, -6.35173223,  1.26998314, 49.94268077,
        8.69056001, -6.35173223,  8.69056001,  8.215065  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006053850882806744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37543406e-13, -4.58478019e-14,  1.00000000e+00, -6.30606282e-27,
        1.00000000e+00,  4.58478019e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37543406e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08558405, -0.05538612,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.03707938e-05, 1.08781544e-05,-4.90501388e+00,-7.17844737e-03,
 -1.21475753e-03, 6.50868214e-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,
  9.51695994e-02,-6.98884091e-02, 1.30412559e-01, 9.92380966e-01,
 -2.00126108e-04,-2.90472365e-04,-1.23206709e-01]

qacc:
[ 3.29679208e+00, 6.31013813e-01,-4.24119614e+00, 1.11576654e+01,
  6.67713703e+00, 3.10835971e+00,-1.13338424e+01, 1.59707467e+01,
 -1.18954983e+00, 1.23840157e+00,-4.12178041e+00, 4.31375819e+00,
 -1.67273588e-02,-4.89552059e-01, 2.58383201e-01,-1.68997512e+00,
  1.33279146e+00,-1.68661487e+00, 1.19871624e-01, 1.72546621e+01,
  2.73699925e+01,-7.60581471e-01]

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([ 6.44849772,  0.9857161 , -6.37271422,  0.9857161 , 63.31573398,
        8.79608727, -6.37271422,  8.79608727,  7.80905533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006019156913631973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30560326e-14, -4.61120652e-14,  1.00000000e+00, -1.06316128e-27,
        1.00000000e+00,  4.61120652e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30560326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08558686, -0.05538375,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.07054894e-05,-1.19139538e-05,-4.90500686e+00,-7.17802805e-03,
 -1.21591789e-03, 5.20501500e-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,
  9.51879037e-02,-6.99000285e-02, 1.30415814e-01, 9.92363750e-01,
 -1.45568418e-04,-1.33855924e-04,-1.23345649e-01]

qacc:
[-9.62629113e-01, 1.04263964e+00,-6.72206962e+00, 1.70945282e+01,
  7.11519267e+00,-1.38159405e-01, 1.97390330e-01, 9.72098141e-01,
  5.27478570e+00, 1.40581882e+00,-5.04169640e+00, 5.95074796e+00,
 -6.60306973e-02,-2.16228048e-01,-8.69219077e+00, 2.90540156e+01,
  1.31962033e+00,-1.65961811e+00,-2.49631168e-02, 1.72394019e+01,
  2.66319054e+01,-9.44291569e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005957328630961101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65906404e-14, -4.65906404e-14,  1.00000000e+00,  2.17068778e-27,
        1.00000000e+00,  4.65906404e-14, -1.00000000e+00,  0.00000000e+00,
        4.65906404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08558853, -0.05538113,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.20651961e-05,-3.12439205e-05,-4.90502621e+00,-7.17972782e-03,
 -1.22040781e-03, 4.18395897e-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,
  9.52042247e-02,-6.99218453e-02, 1.30417566e-01, 9.92346834e-01,
 -1.15165985e-05, 2.38423128e-05,-1.23481818e-01]

qacc:
[ -3.63677892, -0.38048059,  1.55468447, -2.62396842,  4.21683551,
  -2.49366999, 10.41470217,-17.29450437,  3.24611492,  1.58984978,
  -5.0511564 ,  4.96425713, -0.71196455,  0.64759221,  4.83718821,
 -17.20939256, -0.4957979 , -2.54933761, -0.37549328, 39.37703657,
   5.43921365,  1.38794681]

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([ 6.33484858,  5.79554851,  2.55771852,  5.79554851,  9.87689623,
       -8.02594533,  2.55771852, -8.02594533, 24.52088244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005883042300090791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43578992e-14, -9.43578992e-14,  1.00000000e+00,  8.90341314e-27,
        1.00000000e+00,  9.43578992e-14, -1.00000000e+00,  0.00000000e+00,
        9.43578992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09936467, -0.0468136 ,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.79849323e-05,-4.74726640e-05,-4.90507034e+00,-7.18356417e-03,
 -1.22811807e-03, 3.41987766e-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,
  9.52159748e-02,-6.99417525e-02, 1.30421865e-01, 9.92330004e-01,
  1.18117183e-04, 1.42046515e-04,-1.23616862e-01]

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, -1.14274152,  0.4774119 ,  0.6368911 ,  0.24627178,
 -19.86867143,  0.563117  ]

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([ 6.28203237,  0.04288764, -6.28188597,  0.04288764, 39.89351781,
        0.22947208, -6.28188597,  0.22947208,  6.28359902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005819780170326962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53835877e-14,  2.92864432e-07,  1.00000000e+00, -2.79344603e-20,
        1.00000000e+00, -2.92864432e-07, -1.00000000e+00,  0.00000000e+00,
        9.53835877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034207 , -0.0715919 ,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.93234512e-05,-3.03034379e-05,-4.90511906e+00,-7.19079390e-03,
 -1.23380289e-03, 4.72100660e-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,
  9.52239549e-02,-6.99484957e-02, 1.30425065e-01, 9.92313008e-01,
  1.60542988e-04, 2.06929653e-04,-1.23753082e-01]

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,
 -9.42485144e-01, 3.29098391e+00,-2.75019150e-01,-3.99737619e+01,
 -3.18462926e+01,-5.96663775e-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([ 6.31955443, -0.94469429, -6.2485455 , -0.94469429, 24.71455584,
       -2.78107166, -6.2485455 , -2.78107166,  6.74001428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005864725535180554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.46525987e-14, -1.89305197e-13,  1.00000000e+00,  1.79182289e-26,
        1.00000000e+00,  1.89305197e-13, -1.00000000e+00,  0.00000000e+00,
        9.46525987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10257491, -0.09556085,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.03328884e-05,-1.51234291e-05,-4.90508528e+00,-7.19658796e-03,
 -1.24207906e-03, 1.92459843e-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,
  9.52281967e-02,-6.99423458e-02, 1.30426436e-01, 9.92295692e-01,
  1.16950676e-04, 2.21334165e-04,-1.23891878e-01]

qacc:
[ -2.73995639,  0.22672335,  1.97080711,-11.10755998, -9.0630755 ,
  -0.49025053,  0.41187457,  4.19822671,  2.50751847,  2.12942929,
  -8.03006452, 13.90206927, -1.06673713,  1.32294528,  4.51000945,
 -16.68767058, -0.93460487,  3.22328223, -0.45705741,-39.55471343,
 -30.36797565, -1.30277164]

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([ 6.32180736,  0.05057898,  6.32160503,  0.05057898, 33.25768721,
       -0.2155132 ,  6.32160503, -0.2155132 ,  6.32353168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005867423808609273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.46090704e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.46090704e-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([ 0.10256773, -0.09556265,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.25335554e-05,-9.80647586e-06,-4.90501245e+00,-7.19680423e-03,
 -1.25142154e-03,-2.25683195e-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,
  9.52287291e-02,-6.99235294e-02, 1.30425350e-01, 9.92277909e-01,
 -1.16368414e-05, 1.87543071e-04,-1.24034334e-01]

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, -0.92732988,  3.16664145, -0.61447938,-39.18423375,
 -29.17741648, -1.85095343]

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([ 6.2948712 ,  0.35012678,  6.28512646,  0.35012678, 41.33580215,
       -1.95203206,  6.28512646, -1.95203206,  6.40361343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005835160567397024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.51321743e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.51321743e-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([ 0.10256247, -0.09556559,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.99510559e-05, 7.18440865e-06,-4.90500491e+00,-7.19220652e-03,
 -1.25708213e-03,-3.27210540e-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,
  9.52255782e-02,-6.98922342e-02, 1.30421262e-01, 9.92259516e-01,
 -2.24356047e-04, 1.07383664e-04,-1.24181281e-01]

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, -0.92082757,  3.11968397, -0.75037591,-38.86495959,
 -28.22265222, -2.27492139]

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([ 6.24482846,  0.71442445,  6.20382787,  0.71442445, 51.01613692,
       -5.15580347,  6.20382787, -5.15580347,  6.83856383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005775198784060132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40299743e-14, -4.80599485e-14,  1.00000000e+00, -1.15487933e-27,
        1.00000000e+00,  4.80599485e-14, -1.00000000e+00,  0.00000000e+00,
       -2.40299743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10255871, -0.09556943,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.88619001e-05, 3.59393683e-05,-4.90505846e+00,-7.18277445e-03,
 -1.25934954e-03,-1.35124358e-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,
  9.52173504e-02,-6.98715708e-02, 1.30419073e-01, 9.92242276e-01,
 -3.55268195e-04, 1.32324941e-05,-1.24318703e-01]

qacc:
[ 3.12016121e+00,-5.77759245e-01, 1.56312834e-01, 3.88892045e+00,
  5.99681018e+00, 1.77029474e+00,-9.08088365e+00, 1.98643130e+01,
 -4.41239486e+00,-2.84933752e+00, 1.25322691e+01,-2.48876191e+01,
  4.04952290e-02,-4.74031281e-01,-3.20705379e+00, 8.66548908e+00,
 -1.26920762e+00,-2.65797065e+00, 4.74688577e-01, 4.14552913e+01,
 -1.86340781e+00, 4.80051448e+00]

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([ 6.34358395,  0.288181  ,  6.33703472,  0.288181  , 32.68184811,
       -1.19775062,  6.33703472, -1.19775062,  6.39805249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005893503560726182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70952046e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.70952046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10428676, -0.04782813,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.54717184e-05, 7.64005388e-05,-4.90516997e+00,-7.16850101e-03,
 -1.25844117e-03, 3.33209688e-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,
  9.52042070e-02,-6.98612795e-02, 1.30417800e-01, 9.92226030e-01,
 -4.06485180e-04,-9.69100053e-05,-1.24448108e-01]

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 , -1.22892187, -2.59299816,  0.22926598, 40.53259008,
  -2.98126742,  4.0368299 ]

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([ 6.40266872, -2.16942154, -6.02393368, -2.16942154, 28.89398453,
       -8.09988082, -6.02393368, -8.09988082,  9.31970879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005964260992069176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.9804731e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.9804731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10429422, -0.04783162,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.49419022e-05, 6.19111961e-05,-4.90509071e+00,-7.16140734e-03,
 -1.24544447e-03, 2.68088521e-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,
  9.51888267e-02,-6.98618130e-02, 1.30416917e-01, 9.92210292e-01,
 -3.78597562e-04,-2.04322324e-04,-1.24573474e-01]

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,-0.55922486,-2.70621814,
  0.09721519,39.07523971, 6.27589129, 2.0320047 ]

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([  6.42187399,  -4.70780986,  -4.36772159,  -4.70780986,
        21.56793844, -16.32539762,  -4.36772159, -16.32539762,
        24.01843238,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005987263435464352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.16297565e-08,  6.16295128e-08,  1.00000000e+00,  3.79821187e-15,
        1.00000000e+00, -6.16295128e-08, -1.00000000e+00,  1.57772181e-30,
       -6.16297565e-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([ 0.09953675, -0.04684619,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.31282669e-05, 5.73900607e-05,-4.90505677e+00,-7.15921959e-03,
 -1.23299224e-03, 2.18418968e-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,
  9.51713359e-02,-6.98729736e-02, 1.30415666e-01, 9.92194936e-01,
 -2.72898726e-04,-3.10120812e-04,-1.24695787e-01]

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, -0.52760407, -2.65674063, -0.09186007, 38.50240918,
   5.64669714,  1.53109771]

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([  6.41586163,  -1.59304551,  -6.21494058,  -1.59304551,
        46.23162134, -10.20578015,  -6.21494058, -10.20578015,
         9.03185965,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005980062027163835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32067623e-14, -4.64135246e-14,  1.00000000e+00, -1.07710763e-27,
        1.00000000e+00,  4.64135246e-14, -1.00000000e+00,  0.00000000e+00,
       -2.32067623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09942772, -0.04682186,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.83743565e-06, 5.56900458e-05,-4.90504887e+00,-7.16223742e-03,
 -1.22203412e-03, 1.68262843e-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,
  9.51592979e-02,-6.98911186e-02, 1.30415700e-01, 9.92179416e-01,
 -1.27580451e-04,-3.66760596e-04,-1.24819289e-01]

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,  1.36319256, -1.74612378,  0.32119158, 16.5899551 ,
  26.85783474, -0.60005943]

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([  6.39084154,  -4.79190938,  -4.2285293 ,  -4.79190938,
        20.28104992, -15.74084396,  -4.2285293 , -15.74084396,
        24.22888699,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005950096582408998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.24781777e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.24781777e-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([ 0.08563521, -0.05534702,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.57026332e-05, 6.38156153e-05,-4.90508035e+00,-7.16991919e-03,
 -1.21210371e-03, 1.64653276e-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,
  9.51526270e-02,-6.99161086e-02, 1.30416326e-01, 9.92163666e-01,
  5.75713439e-05,-3.75528308e-04,-1.24944451e-01]

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, 1.34176339,-1.71126196,
  0.14801406,16.77300191,26.23490149,-0.84163736]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005923853697747811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68539181e-14, -9.37078363e-14,  1.00000000e+00,  4.39057929e-27,
        1.00000000e+00,  9.37078363e-14, -1.00000000e+00,  0.00000000e+00,
        4.68539181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08563658, -0.05534349,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.47398972e-05, 5.50410846e-05,-4.90508222e+00,-7.18061165e-03,
 -1.20776626e-03, 3.81769816e-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,
  9.51512509e-02,-6.99478306e-02, 1.30416950e-01, 9.92147616e-01,
  2.82706918e-04,-3.37471820e-04,-1.25071634e-01]

qacc:
[ 3.42842793e+00,-7.24457868e-01, 3.11690866e+00,-4.24135180e+00,
 -1.57109123e+00,-1.97864235e+00, 1.05628640e+01,-2.52170320e+01,
  1.96362420e+00, 1.92784993e+00,-6.75152534e+00, 9.81720056e+00,
  1.52430336e-01,-6.66882073e-01,-5.43461506e+00, 1.77429844e+01,
  1.32369966e+00,-1.68297580e+00,-6.36611167e-04, 1.69096441e+01,
  2.57263965e+01,-1.03035296e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005870075129071339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72831693e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.72831693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08563713, -0.05533999,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.69421767e-05, 4.94619857e-05,-4.90510947e+00,-7.19337901e-03,
 -1.20655709e-03, 6.16061954e-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,
  9.51459904e-02,-6.99659694e-02, 1.30417668e-01, 9.92131374e-01,
  4.17903804e-04,-3.54353236e-04,-1.25199985e-01]

qacc:
[-1.04595426e+00,-1.04176323e-01, 2.52571262e+00,-8.52723270e+00,
 -3.92204182e+00,-1.94587820e+00, 1.03526790e+01,-2.50068485e+01,
  4.15000780e+00,-1.92007360e+00, 8.02890024e+00,-1.32410334e+01,
 -8.86949928e-01, 1.05031925e+00, 1.14700944e+00,-4.87765294e+00,
 -9.71087460e-01, 3.39577252e+00, 2.36319808e-02,-4.11808122e+01,
 -3.28778426e+01,-5.68839838e-01]

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([ 6.3440022 ,  2.47387213, -5.84177376,  2.47387213, 29.57446919,
        9.83762933, -5.84177376,  9.83762933, 10.51003773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005894004437291267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41824049e-14, -9.41824049e-14,  1.00000000e+00,  8.87032539e-27,
        1.00000000e+00,  9.41824049e-14, -1.00000000e+00,  0.00000000e+00,
        9.41824049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1025026 , -0.09557304,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.23632598e-05, 4.68358460e-05,-4.90516099e+00,-7.20825513e-03,
 -1.20840686e-03, 8.68353929e-06]


--- 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,
  9.51368881e-02,-6.99708610e-02, 1.30417581e-01, 9.92114800e-01,
  4.64788351e-04,-4.23121157e-04,-1.25330879e-01]

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, -0.96046692,  3.3118127 , -0.20112021,-40.56100707,
 -31.26805622, -1.25510734]

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([ 6.39089454,  0.05608473,  6.39064844,  0.05608473, 30.88483381,
       -0.21496035,  6.39064844, -0.21496035,  6.39278104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005950160055746417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32935429e-14, -9.32935429e-14,  1.00000000e+00,  8.70368514e-27,
        1.00000000e+00,  9.32935429e-14, -1.00000000e+00,  0.00000000e+00,
        9.32935429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10249469, -0.09557265,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.92023717e-05, 3.93263331e-05,-4.90506047e+00,-7.21483879e-03,
 -1.21323074e-03, 5.45257795e-06]


--- 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,
  9.51239821e-02,-6.99627894e-02, 1.30415910e-01, 9.92097762e-01,
  4.24770200e-04,-5.41315874e-04,-1.25465366e-01]

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, -0.95090814,  3.24080138, -0.39628034,-40.01202755,
 -29.96525794, -1.78219335]

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([ 6.39883501,  0.3445325 ,  6.38955295,  0.3445325 , 38.5873928 ,
       -1.73564637,  6.38955295, -1.73564637,  6.49242318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005959669602746825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31446790e-14, -9.31446790e-14,  1.00000000e+00,  8.67593123e-27,
        1.00000000e+00,  9.31446790e-14, -1.00000000e+00,  0.00000000e+00,
        9.31446790e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10248886, -0.09557389,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.21933541e-05, 4.48599845e-05,-4.90502868e+00,-7.21646588e-03,
 -1.21417626e-03, 5.62283004e-06]


--- 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,
  9.51073059e-02,-6.99419930e-02, 1.30411977e-01, 9.92080130e-01,
  2.99054267e-04,-7.06962015e-04,-1.25604249e-01]

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, -0.9425562 ,  3.18122152, -0.56523146,-39.53459724,
 -28.91537169, -2.18429459]

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([ 6.3753688 ,  0.70228971,  6.33656978,  0.70228971, 47.98004586,
       -4.6110968 ,  6.33656978, -4.6110968 ,  6.88642225,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005931567064105386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35859793e-14, -1.87171959e-13,  1.00000000e+00,  1.75166710e-26,
        1.00000000e+00,  1.87171959e-13, -1.00000000e+00,  0.00000000e+00,
        9.35859793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10248468, -0.09557644,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.06132584e-05, 6.32481837e-05,-4.90506059e+00,-7.21314381e-03,
 -1.21156123e-03, 8.91141717e-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,
  9.50979696e-02,-6.99226934e-02, 1.30411412e-01, 9.92062890e-01,
  1.70435034e-04,-8.11518815e-04,-1.25739948e-01]

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, 1.83497158,-0.37422737,
  0.84173551,-5.2756269 ,30.12104194, 1.59613988]

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([ 6.37850263, -3.27007358,  5.47648743, -3.27007358, 27.94097767,
       12.87520162,  5.47648743, 12.87520162, 14.06643347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005935319956070773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96861152e-14, -9.35268050e-14,  1.00000000e+00,  4.64698361e-27,
        1.00000000e+00,  9.35268050e-14, -1.00000000e+00,  0.00000000e+00,
        4.96861152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248529, -0.06633971,  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:
[ 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,
  5.06383223e-05, 9.42008537e-05,-4.90515238e+00,-7.20489041e-03,
 -1.20562458e-03, 1.51031975e-05]


--- 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,
  9.50940400e-02,-6.99105331e-02, 1.30413072e-01, 9.92045657e-01,
  8.36130029e-05,-8.60427917e-04,-1.25875599e-01]

qacc:
[-1.13529673e+01,-3.57096899e-01, 3.42171330e+00,-1.19023965e+01,
  3.09241542e-01, 1.96154707e+00,-9.99244860e+00, 2.33148851e+01,
 -4.96160958e+00,-1.75411397e+00, 8.20848816e+00,-1.72775070e+01,
 -8.50850754e-01, 1.24141602e+00, 2.35204763e+00,-9.40622737e+00,
  1.35167643e+00,-1.78482267e+00, 5.56496805e-01, 1.72341758e+01,
  3.02308044e+01, 1.95997176e-03]

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([  6.4221797 ,   4.84357503,   4.21712853,   4.84357503,
        23.79835328, -19.95737144,   4.21712853, -19.95737144,
        29.3441811 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000598762961723287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27097279e-14, -9.27097279e-14,  1.00000000e+00,  8.59509364e-27,
        1.00000000e+00,  9.27097279e-14, -1.00000000e+00,  0.00000000e+00,
        9.27097279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08566875, -0.05532586,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.30441464e-05, 6.53761957e-05,-4.90509629e+00,-7.19966684e-03,
 -1.19875611e-03, 1.52526080e-05]


--- 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,
  9.50954427e-02,-6.99053449e-02, 1.30416144e-01, 9.92028354e-01,
  3.83620990e-05,-8.56327420e-04,-1.26011946e-01]

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, 1.33306881,-1.74300792,
  0.35278199,17.28362493,28.91030755,-0.36905654]

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([ 6.43693372,  1.12449481, -6.33795133,  1.12449481, 43.21712448,
        6.52563131, -6.33795133,  6.52563131,  7.59472717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006005303009971319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62184432e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.62184432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08567422, -0.05532409,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.83496032e-05, 3.60785276e-05,-4.90503575e+00,-7.19650705e-03,
 -1.19290859e-03, 1.37023213e-05]


--- 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,
  9.51021134e-02,-6.99069889e-02, 1.30419922e-01, 9.92010910e-01,
  3.44525662e-05,-8.01344737e-04,-1.26149560e-01]

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,  1.31700569, -1.70808092,  0.17683399, 17.2994844 ,
  27.84295405, -0.65649064]

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([ 6.42060997,  0.88800445, -6.35890561,  0.88800445, 54.49457422,
        6.71340269, -6.35890561,  6.71340269,  7.35811901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005985749411541452
  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([ 0.085678  , -0.05532197,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.06764530e-05, 1.12615868e-05,-4.90500586e+00,-7.19541613e-03,
 -1.19062158e-03, 1.24894436e-05]


--- 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,
  9.51139978e-02,-6.99153498e-02, 1.30423803e-01, 9.91993259e-01,
  7.16665172e-05,-6.97188149e-04,-1.26288883e-01]

qacc:
[-9.77630837e+00, 4.57411352e-01,-8.10161015e-01,-1.37954389e+00,
 -2.87711027e+00,-1.49456947e+00, 4.28825208e+00,-2.20111144e+00,
  3.20508769e+00, 7.91495681e-01,-4.15596104e+00, 8.82497774e+00,
 -6.11471695e-01, 5.04599759e-01, 2.68225011e-01,-2.25955624e+00,
  1.30342563e+00,-1.67918738e+00, 2.55490939e-02, 1.72951579e+01,
  2.69842680e+01,-8.78105103e-01]

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([ 6.37954167,  0.591059  , -6.35210211,  0.591059  , 68.52205098,
        5.78232033, -6.35210211,  5.78232033,  6.91758284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936564251177445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.35072019e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.35072019e-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([ 0.08568046, -0.05531957,  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:
[-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,
 -3.88543695e-08,-9.71832653e-06,-4.90500386e+00,-7.19643226e-03,
 -1.19173264e-03, 1.15763310e-05]


--- 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,
  9.51310510e-02,-6.99303329e-02, 1.30427268e-01, 9.91975338e-01,
  1.49808366e-04,-5.45220985e-04,-1.26430253e-01]

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,  1.29221557, -1.65556676, -0.10402797, 17.2804242 ,
  26.29808658, -1.04782793]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005864223343497038
  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([ 0.08568187, -0.05531694,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.38457085e-05,-2.73247691e-05,-4.90502771e+00,-7.19958037e-03,
 -1.19611347e-03, 1.09335584e-05]


--- 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,
  9.51532372e-02,-6.99518621e-02, 1.30429875e-01, 9.91957081e-01,
  2.68711599e-04,-3.46521710e-04,-1.26573922e-01]

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, 1.28323497,-1.63655053,
 -0.21463501,17.26236547,25.75502353,-1.17657695]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005774217473124427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80681161e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.80681161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08568246, -0.05531415,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.07892100e-05,-4.18865039e-05,-4.90507595e+00,-7.20487635e-03,
 -1.20366339e-03, 1.05390455e-05]


--- 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,
  9.51716854e-02,-6.99599786e-02, 1.30431816e-01, 9.91938789e-01,
  3.01377195e-04,-2.02245311e-04,-1.26717432e-01]

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, -0.93450216,  3.35321115, -0.16635702,-39.3277266 ,
 -32.4502824 ,  0.09869877]

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([ 6.22902523,  2.27436828, -5.7989658 ,  2.27436828, 26.84067711,
        8.08393924, -5.7989658 ,  8.08393924,  9.39956556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005756254791327575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.64362302e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.64362302e-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([ 0.10242942, -0.09560702,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.09169897e-05,-5.36292197e-05,-4.90514751e+00,-7.21233010e-03,
 -1.21430405e-03, 1.03771205e-05]


--- 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,
  9.51864309e-02,-6.99549898e-02, 1.30432307e-01, 9.91920278e-01,
  2.48692104e-04,-1.09311976e-04,-1.26862474e-01]

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, -0.92568173,  3.27630453, -0.36242448,-39.07842035,
 -30.87255074, -0.75681913]

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([ 6.25174171, -0.91676893,  6.18415792, -0.91676893, 29.56465476,
        3.4560169 ,  6.18415792,  3.4560169 ,  6.76407806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005783484552461943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.59821899e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.59821899e-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([ 0.10242112, -0.09560916,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.57101206e-05,-4.61101334e-05,-4.90505334e+00,-7.21111448e-03,
 -1.22872169e-03, 3.79396930e-06]


--- 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,
  9.51975070e-02,-6.99371534e-02, 1.30430669e-01, 9.91901382e-01,
  1.11451580e-04,-6.52400607e-05,-1.27010361e-01]

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, -0.91732807,  3.21192087, -0.53224352,-38.83689164,
 -29.59714782, -1.42499509]

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([ 6.242215  , -0.64715729,  6.20857758, -0.64715729, 37.19244649,
        3.22612831,  6.20857758,  3.22612831,  6.57849371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005772066240906926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92344124e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92344124e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241495, -0.0956123 ,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.34927413e-05,-2.80543840e-05,-4.90502548e+00,-7.20522110e-03,
 -1.23933137e-03, 3.97362215e-07]


--- 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,
  9.52049445e-02,-6.99066831e-02, 1.30426316e-01, 9.91881939e-01,
 -1.09651065e-04,-6.80350369e-05,-1.27162113e-01]

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, -0.90965742,  3.15846021, -0.67901007,-38.61528302,
 -28.56957958, -1.94585851]

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([ 6.20689173, -0.3051553 ,  6.19938587, -0.3051553 , 46.88205363,
        2.00217272,  6.19938587,  2.00217272,  6.30544563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005729713886060556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.68829375e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.68829375e-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([ 0.10241046, -0.09561626,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.86346101e-05, 9.88054836e-07,-4.90505968e+00,-7.19459162e-03,
 -1.24645356e-03,-3.94085125e-08]


--- 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,
  9.52072190e-02,-6.98868146e-02, 1.30423954e-01, 9.91863696e-01,
 -2.47911829e-04,-8.50770207e-05,-1.27304124e-01]

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, -1.29075536, -2.65044335,  0.49788257, 41.99092061,
  -1.79899362,  4.90310608]

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([ 6.23829825,  0.25417937,  6.23311783,  0.25417937, 31.52070397,
       -1.03098739,  6.23311783, -1.03098739,  6.28034073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005767371318788767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62503507e-14, -9.62503507e-14,  1.00000000e+00,  9.26413002e-27,
        1.00000000e+00,  9.62503507e-14, -1.00000000e+00,  0.00000000e+00,
        9.62503507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10442622, -0.04788095,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.11140209e-04, 4.12142833e-05,-4.90515273e+00,-7.17919103e-03,
 -1.25033093e-03, 2.30966064e-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,
  9.52044981e-02,-6.98772960e-02, 1.30422604e-01, 9.91846493e-01,
 -3.05629903e-04,-1.18351676e-04,-1.27437937e-01]

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 , -1.24887225, -2.58748125,  0.25309535, 40.97740579,
  -2.9245624 ,  4.12645706]

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([ 6.30973369, -2.55532925, -5.7691448 , -2.55532925, 27.12650778,
       -9.22038075, -5.7691448 , -9.22038075, 10.39372004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005852963115117876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74214087e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.74214087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1044335 , -0.04788551,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.39823188e-05, 2.92046576e-05,-4.90506211e+00,-7.17089668e-03,
 -1.24158703e-03, 2.09766413e-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,
  9.51994756e-02,-6.98785690e-02, 1.30421607e-01, 9.91829821e-01,
 -2.83790274e-04,-1.49022982e-04,-1.27567640e-01]

qacc:
[  5.14778803,  2.64883179, -8.73891588, 10.07260718,  6.34419325,
  -0.77367985,  1.63849265,  0.68134188, -6.93784015,  1.31226322,
  -5.03631817,  5.95992527, -0.74615923,  0.56900282,  7.09716308,
 -23.90652065, -0.57536658, -2.69790041,  0.08835376, 39.28895633,
   6.35979957,  2.06817604]

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([  6.34135606,  -4.88595148,  -4.04231059,  -4.88595148,
        18.09990165, -14.21258509,  -4.04231059, -14.21258509,
        23.52014518,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005890835518849874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39441041e-07,  2.39441011e-07,  1.00000000e+00,  5.73320051e-14,
        1.00000000e+00, -2.39441011e-07, -1.00000000e+00, -1.26217745e-29,
       -2.39441041e-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([ 0.09968013, -0.04687196,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.60700513e-05, 2.70198170e-05,-4.90501703e+00,-7.16758165e-03,
 -1.23344758e-03, 2.01774746e-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,
  9.51922229e-02,-6.98904290e-02, 1.30420220e-01, 9.91813560e-01,
 -1.83781740e-04,-1.78677420e-04,-1.27694151e-01]

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, -0.55755681, -2.64674382, -0.09784198, 38.70056225,
   5.48976896,  1.60355772]

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([  6.34028269,  -1.8632353 ,  -6.06032497,  -1.8632353 ,
        44.66704438, -11.78348946,  -6.06032497, -11.78348946,
         9.96309395,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005889550080329811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.98832928e-07,  5.98832957e-07,  1.00000000e+00,  3.58600893e-13,
        1.00000000e+00, -5.98832957e-07, -1.00000000e+00,  0.00000000e+00,
       -5.98832928e-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([ 0.09968564, -0.04687193,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.69458794e-06, 2.65517787e-05,-4.90500752e+00,-7.16959117e-03,
 -1.22689416e-03, 1.82149275e-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,
  9.51828570e-02,-6.99127192e-02, 1.30417798e-01, 9.91797586e-01,
 -6.75700714e-06,-2.08090955e-04,-1.27818252e-01]

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,
 -5.28315935e-01,-2.60755233e+00,-2.58336021e-01, 3.81777165e+01,
  5.03652871e+00, 1.20619745e+00]

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([  6.3118251 ,  -2.32271435,  -5.86891252,  -2.32271435,
        53.50327158, -18.67675646,  -5.86891252, -18.67675646,
        13.70344494,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005855468088773186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74011218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.74011218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09957691, -0.04684648,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.40676009e-05, 3.59162108e-05,-4.90503738e+00,-7.17628894e-03,
 -1.22137108e-03, 2.07514746e-06]


--- 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,
  9.51788492e-02,-6.99419369e-02, 1.30416058e-01, 9.91781361e-01,
  2.09743785e-04,-1.90199077e-04,-1.27943937e-01]

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, 1.33954284,-1.73189188,
  0.1702484 ,16.5527172 ,25.98155725,-0.80520963]

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([  6.29416041,  -4.96025887,  -3.87456929,  -4.96025887,
        18.15977914, -15.19047309,  -3.87456929, -15.19047309,
        25.74114229,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005834309114623598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.51460578e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.51460578e-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([ 0.08572759, -0.05528664,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.96999543e-05, 5.43705091e-05,-4.90510453e+00,-7.18764353e-03,
 -1.21672149e-03, 2.71809676e-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,
  9.51710182e-02,-6.99575144e-02, 1.30414636e-01, 9.91764885e-01,
  3.34445686e-04,-2.27323453e-04,-1.28071264e-01]

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, -0.9558091 ,  3.41006232,  0.07932674,-42.002847  ,
 -33.15479983, -0.81597125]

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([ 6.34765857,  2.54805469, -5.81379279,  2.54805469, 28.9433943 ,
        9.90320305, -5.81379279,  9.90320305, 10.68800986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005898383129110257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41124881e-14, -9.41124881e-14,  1.00000000e+00,  8.85716042e-27,
        1.00000000e+00,  9.41124881e-14, -1.00000000e+00,  0.00000000e+00,
        9.41124881e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10236027, -0.09561628,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.36565808e-05, 5.09384535e-05,-4.90514732e+00,-7.20212094e-03,
 -1.21741980e-03, 5.28704591e-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,
  9.51594072e-02,-6.99597880e-02, 1.30412601e-01, 9.91748020e-01,
  3.69291669e-04,-3.16363634e-04,-1.28201511e-01]

qacc:
[ 2.75047313e-02, 6.35031037e-01,-2.72114315e+00, 5.78859570e+00,
 -1.29675350e-01,-1.17828544e+00, 4.91750392e+00,-8.91519918e+00,
 -1.26906311e+00,-1.59823758e+00, 5.29808985e+00,-7.28892119e+00,
 -7.35518592e-01, 8.96660170e-01,-6.78752005e+00, 2.19356494e+01,
 -9.45002725e-01, 3.32598052e+00,-1.53026729e-01,-4.12337781e+01,
 -3.14986492e+01,-1.45429821e+00]

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([ 6.40464223,  0.74088083,  6.36164583,  0.74088083, 30.21237021,
       -2.77266131,  6.36164583, -2.77266131,  6.72754791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005966624565729023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86072211e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86072211e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10235232, -0.09561455,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.20088482e-05, 4.44104044e-05,-4.90505718e+00,-7.20822536e-03,
 -1.22095506e-03, 2.85670538e-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,
  9.51440550e-02,-6.99490433e-02, 1.30409145e-01, 9.91730635e-01,
  3.15948698e-04,-4.54819198e-04,-1.28335655e-01]

qacc:
[-1.65507027e-02,-5.76530025e-01, 1.88895191e+00,-6.78356233e-01,
 -6.07584476e+00, 1.31285049e-01,-1.38941199e+00, 5.09781095e+00,
 -6.84807175e-01,-3.38800737e+00, 1.11646960e+01,-1.33596306e+01,
 -1.21547380e+00, 1.75982008e+00,-3.96186023e-01, 1.15185733e+00,
 -9.35280372e-01, 3.25457071e+00,-3.55247215e-01,-4.05635675e+01,
 -3.01575850e+01,-1.94243242e+00]

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([ 6.4204393 ,  1.01872011,  6.33910484,  1.01872011, 37.36938306,
       -4.97362204,  6.33910484, -4.97362204,  7.21972073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005985544980269125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.27420167e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.27420167e-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([ 0.10234645, -0.09561474,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.24958605e-06, 5.15886721e-05,-4.90503752e+00,-7.20927321e-03,
 -1.22061469e-03, 3.88623865e-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,
  9.51249957e-02,-6.99255209e-02, 1.30403566e-01, 9.91712599e-01,
  1.75830686e-04,-6.40681247e-04,-1.28474434e-01]

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  , -0.92679111,  3.19443346, -0.53066081,-39.98771363,
 -29.0762788 , -2.31275773]

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([ 6.40293247,  1.35582947,  6.25773687,  1.35582947, 45.86967183,
       -8.5510416 ,  6.25773687, -8.5510416 ,  8.25563968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000596457686979357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30680456e-14, -9.30680456e-14,  1.00000000e+00,  8.66166112e-27,
        1.00000000e+00,  9.30680456e-14, -1.00000000e+00,  0.00000000e+00,
        9.30680456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10234223, -0.09561647,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.55359382e-05, 7.20790247e-05,-4.90508279e+00,-7.20529184e-03,
 -1.21671290e-03, 8.07391722e-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,
  9.51114698e-02,-6.99094642e-02, 1.30401609e-01, 9.91694655e-01,
  7.76437876e-05,-7.68192095e-04,-1.28612267e-01]

qacc:
[-1.89860809e-01,-7.28869420e-01, 1.40655738e-01, 6.70719170e+00,
  2.75302409e+00, 5.15894859e-01,-1.41711920e+00, 6.66066323e-01,
 -1.96127914e-01, 1.02079658e+00,-3.24327695e+00, 3.04279011e+00,
 -2.37238528e-02,-2.32281025e-01,-1.61869628e+00, 2.98780354e+00,
  1.38336189e+00,-1.86643994e+00, 9.05435514e-01, 1.70437834e+01,
  3.16274626e+01, 4.56521244e-01]

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([ 6.45372885, -2.18592505,  6.07226051, -2.18592505, 32.7199249 ,
        9.45544677,  6.07226051,  9.45544677,  9.85755152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006025424492705767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -2.763846e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  2.763846e-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([ 0.08575385, -0.05527366,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.47377746e-05, 1.05436989e-04,-4.90518879e+00,-7.19631480e-03,
 -1.20948571e-03, 1.51914951e-05]


--- 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,
  9.51033778e-02,-6.99006574e-02, 1.30402259e-01, 9.91676714e-01,
  2.12536686e-05,-8.40503846e-04,-1.28750100e-01]

qacc:
[-6.26629776e+00,-3.77172786e-01,-1.51330717e+00, 1.07877195e+01,
  1.76149639e+00,-9.91099508e-01, 5.64314238e+00,-1.31514216e+01,
 -8.08378488e-02, 1.66627945e+00,-5.47310325e+00, 5.86445885e+00,
 -4.70087025e-01, 3.88307952e-01,-4.30189221e+00, 1.26579781e+01,
  1.35845945e+00,-1.81247334e+00, 6.51569850e-01, 1.71751808e+01,
  3.00581152e+01,-1.81001270e-02]

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([ 6.51600923,  1.82538727, -6.25510492,  1.82538727, 33.9577262 ,
        8.00814077, -6.25510492,  8.00814077,  8.85297373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006100081225949572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55003378e-14,  9.10006755e-14,  1.00000000e+00, -4.14056147e-27,
        1.00000000e+00, -9.10006755e-14, -1.00000000e+00,  0.00000000e+00,
        4.55003378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08576107, -0.05527208,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.22913411e-05, 7.26865441e-05,-4.90509405e+00,-7.19320995e-03,
 -1.19868390e-03, 1.39917693e-05]


--- 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,
  9.51006322e-02,-6.98989190e-02, 1.30404633e-01, 9.91658697e-01,
  6.48233998e-06,-8.60175656e-04,-1.28888668e-01]

qacc:
[-6.98833892e+00, 1.06674680e+00,-1.51782377e+00,-4.34025524e+00,
  4.06812240e+00,-2.68171478e-01, 3.94159000e+00,-1.36946873e+01,
  6.06146000e+00,-2.33481915e-02,-1.91572905e+00, 7.96477351e+00,
 -9.72064381e-01, 1.22754248e+00,-8.72507009e-02,-5.49860202e-01,
  1.33661282e+00,-1.76707811e+00, 4.31226202e-01, 1.72471858e+01,
  2.87800744e+01,-3.87463107e-01]

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([ 6.53675621,  1.63682861, -6.32850487,  1.63682861, 43.09922301,
        9.45665572, -6.32850487,  9.45665572,  8.98266167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006124970334741575
  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([ 0.08576624, -0.05527009,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.69635776e-05, 4.52877769e-05,-4.90503362e+00,-7.19210960e-03,
 -1.19160677e-03, 1.31365803e-05]


--- 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,
  9.51031577e-02,-6.99040973e-02, 1.30407972e-01, 9.91640533e-01,
  3.31356387e-05,-8.29279174e-04,-1.29028540e-01]

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, 1.31776837,-1.72920607,
  0.24101286,17.28014579,27.74275813,-0.6740726 ]

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([ 6.5239312 ,  1.38269994, -6.37572108,  1.38269994, 54.98607087,
       10.50996375, -6.37572108, 10.50996375,  8.8032226 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006109583483437653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54295709e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.54295709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08576976, -0.05526776,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.66140617e-06, 2.23731306e-05,-4.90500388e+00,-7.19307372e-03,
 -1.18805944e-03, 1.25901521e-05]


--- 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,
  9.51108904e-02,-6.99160673e-02, 1.30411620e-01, 9.91622156e-01,
  1.01022313e-04,-7.49484474e-04,-1.29170154e-01]

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,  1.30179277, -1.69790744,  0.07754606, 17.28899142,
  26.90475106, -0.89556794]

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: -0.0006062062819251202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.74714167e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.74714167e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08577199, -0.05526515,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.26780550e-05, 3.31276547e-06,-4.90500211e+00,-7.19614249e-03,
 -1.18788657e-03, 1.23225995e-05]


--- 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,
  9.51237771e-02,-6.99347267e-02, 1.30415019e-01, 9.91603498e-01,
  2.09967068e-04,-6.22129964e-04,-1.29313846e-01]

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, 1.28851038,-1.67233818,
 -0.06239694,17.28463346,26.23221098,-1.06577272]

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: -0.0005989353961970145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.26830366e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.26830366e-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([ 0.08577321, -0.05526233,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.71024096e-05,-1.23477546e-05,-4.90502629e+00,-7.20134245e-03,
 -1.19096495e-03, 1.23101844e-05]


--- 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,
  9.51417748e-02,-6.99599931e-02, 1.30417691e-01, 9.91584496e-01,
  3.59819276e-04,-4.48279214e-04,-1.29459869e-01]

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, 1.27772704,-1.65175803,
 -0.18179863,17.27499448,25.69751559,-1.19551692]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005897349593814438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70644909e-14, -9.41289818e-14,  1.00000000e+00,  4.43013260e-27,
        1.00000000e+00,  9.41289818e-14, -1.00000000e+00,  0.00000000e+00,
        4.70644909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08577363, -0.05525935,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.46543737e-05,-2.49308508e-05,-4.90507495e+00,-7.20869089e-03,
 -1.19719743e-03, 1.25350358e-05]


--- 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,
  9.51560803e-02,-6.99717192e-02, 1.30420028e-01, 9.91565487e-01,
  4.22506625e-04,-3.29366294e-04,-1.29605547e-01]

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, -0.92302672,  3.38506543, -0.08371977,-39.65946168,
 -32.8798665 ,  0.19949468]

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([ 6.35114737,  2.30562719, -5.91786754,  2.30562719, 27.51901582,
        8.24709455, -5.91786754,  8.24709455,  9.56425164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005902561124601635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40458727e-14, -1.88091745e-13,  1.00000000e+00,  1.76892524e-26,
        1.00000000e+00,  1.88091745e-13, -1.00000000e+00,  0.00000000e+00,
        9.40458727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10228227, -0.09564016,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.53789254e-05,-3.46574303e-05,-4.90514702e+00,-7.21819888e-03,
 -1.20650803e-03, 1.29846384e-05]


--- 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,
  9.51667298e-02,-6.99702342e-02, 1.30421187e-01, 9.91546285e-01,
  3.99083378e-04,-2.62180095e-04,-1.29752599e-01]

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, -0.91398737,  3.30276449, -0.29441141,-39.34029809,
 -31.22574284, -0.66817008]

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([ 6.37844006, -0.86255111,  6.31984994, -0.86255111, 28.29019873,
        2.99057921,  6.31984994,  2.99057921,  6.78660283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005935245028848429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.35279857e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.35279857e-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([ 0.10227365, -0.09564199,  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:
[ 1.23125605e-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,
 -3.98055589e-05,-3.07155841e-05,-4.90504402e+00,-7.21893850e-03,
 -1.21975052e-03, 6.64040168e-06]


--- 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,
  9.51737575e-02,-6.99558143e-02, 1.30420440e-01, 9.91526719e-01,
  2.90488045e-04,-2.44133268e-04,-1.29902357e-01]

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, -0.90547624,  3.23374345, -0.47673156,-39.03833393,
 -29.88821877, -1.34424098]

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([ 6.37084989, -0.5993709 ,  6.34259276, -0.5993709 , 35.61581329,
        2.76363009,  6.34259276,  2.76363009,  6.63201114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005926155510787706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87342877e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87342877e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10226724, -0.09564498,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.31356694e-06,-1.58899116e-05,-4.90500838e+00,-7.21497274e-03,
 -1.22909166e-03, 3.57022654e-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,
  9.51771943e-02,-6.99286891e-02, 1.30417156e-01, 9.91506627e-01,
  9.75365344e-05,-2.73146526e-04,-1.30055852e-01]

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, -0.89770965,  3.17631225, -0.6341178 ,-38.76447519,
 -28.81030591, -1.8697181 ]

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([ 6.33532072, -0.264475  ,  6.32979791, -0.264475  , 44.95636408,
        1.61368506,  6.32979791,  1.61368506,  6.40274457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000588360773092364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43488311e-14, -9.43488311e-14,  1.00000000e+00,  8.90170194e-27,
        1.00000000e+00,  9.43488311e-14, -1.00000000e+00,  0.00000000e+00,
        9.43488311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10226258, -0.0956489 ,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.40531934e-05, 1.01959486e-05,-4.90503551e+00,-7.20624954e-03,
 -1.23486991e-03, 3.52496526e-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,
  9.51860008e-02,-6.99088352e-02, 1.30416373e-01, 9.91486645e-01,
 -5.41151484e-05,-2.44016833e-04,-1.30208183e-01]

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,  1.34240716, -1.8178134 ,  0.62536283, 16.69376516,
  31.51027451,  0.57551771]

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([ 6.28831361, -2.20159522,  5.89031973, -2.20159522, 28.60555999,
        8.34140508,  5.89031973,  8.34140508,  9.40603868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005827305068779043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52604173e-14, -1.90520835e-13,  1.00000000e+00,  1.81490942e-26,
        1.00000000e+00,  1.90520835e-13, -1.00000000e+00,  0.00000000e+00,
        9.52604173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08579862, -0.05524689,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.59319687e-05, 4.76765480e-05,-4.90512195e+00,-7.19273996e-03,
 -1.23734136e-03, 6.31349688e-06]


--- 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,
  9.52001164e-02,-6.98960699e-02, 1.30417253e-01, 9.91466661e-01,
 -1.64548777e-04,-1.59817837e-04,-1.30360301e-01]

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,  1.32730667, -1.77215601,  0.41568102, 16.84836426,
  29.98369755,  0.10179037]

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([ 6.32335771,  1.29272022, -6.18980833,  1.29272022, 35.4206594 ,
        6.07687154, -6.18980833,  6.07687154,  7.59249147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005869280597848858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72895701e-14, -1.89158280e-13,  1.00000000e+00,  8.94521375e-27,
        1.00000000e+00,  1.89158280e-13, -1.00000000e+00,  0.00000000e+00,
        4.72895701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0858059 , -0.05524506,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.77433566e-05, 1.03915423e-05,-4.90507084e+00,-7.18536569e-03,
 -1.23541737e-03, 3.00882486e-06]


--- 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,
  9.52118536e-02,-6.98940072e-02, 1.30418484e-01, 9.91447289e-01,
 -1.93089546e-04,-7.20835834e-05,-1.30507592e-01]

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,
 -5.94637596e-01,-2.67564317e+00, 8.76960266e-02, 4.03670277e+01,
  7.08998573e+00, 2.42694278e+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([ 6.32917878,  6.19368975,  1.30257869,  6.19368975,  7.31829204,
       -4.70317895,  1.30257869, -4.70317895, 28.692535  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005876252113973177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.15463038e-07,  6.15463248e-07,  1.00000000e+00,  3.78794880e-13,
        1.00000000e+00, -6.15463248e-07, -1.00000000e+00,  0.00000000e+00,
       -6.15463038e-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([ 0.09981861, -0.04689838,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.68336034e-05,-2.19065474e-05,-4.90505045e+00,-7.17996438e-03,
 -1.23723988e-03, 8.63705337e-08]


--- 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,
  9.52187697e-02,-6.99018471e-02, 1.30419350e-01, 9.91428814e-01,
 -1.42024888e-04,-2.82831023e-06,-1.30647947e-01]

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, -1.20524774, -2.47564765, -0.09133083, 40.66845311,
  -3.96654855,  3.49187994]

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([ 6.33539792,  1.19543804, -6.22159101,  1.19543804, 42.47897292,
        6.94475166, -6.22159101,  6.94475166,  7.66978655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005883700177734541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.07605115e-14, -9.43473487e-14,  1.00000000e+00,  6.67606665e-27,
        1.00000000e+00,  9.43473487e-14, -1.00000000e+00,  0.00000000e+00,
        7.07605115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10457898, -0.04794606,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.10377909e-05,-2.56705379e-05,-4.90501692e+00,-7.17793593e-03,
 -1.23649541e-03, 1.43027653e-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,
  9.52209722e-02,-6.99194466e-02, 1.30419193e-01, 9.91411111e-01,
 -1.32386130e-05, 4.69536094e-05,-1.30782290e-01]

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, -1.17840626, -2.43990005, -0.25558717, 39.79986561,
  -4.57656295,  3.02954488]

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([  6.31588987,  -4.40751759,  -4.5237433 ,  -4.40751759,
        28.16083313, -21.28369478,  -4.5237433 , -21.28369478,
        27.05275597,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005860336526427729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73617436e-14, -9.47234873e-14,  1.00000000e+00,  4.48626952e-27,
        1.00000000e+00,  9.47234873e-14, -1.00000000e+00,  0.00000000e+00,
        4.73617436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10458396, -0.04794765,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.76424632e-05,-1.03404150e-05,-4.90501618e+00,-7.18015703e-03,
 -1.23567026e-03, 8.05029273e-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,
  9.52186071e-02,-6.99351491e-02, 1.30421594e-01, 9.91393431e-01,
  1.08818962e-04, 5.77440702e-05,-1.30916195e-01]

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, -1.14190403,  0.47423924,  0.63939386, -0.78576802,
 -19.76828371,  0.21801028]

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([ 6.27166878, -1.15811012, -6.16381458, -1.15811012, 40.35543083,
       -6.40394825, -6.16381458, -6.40394825,  7.47489726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005807363528827713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55875260e-14,  2.94625034e-07,  1.00000000e+00, -2.81624781e-20,
        1.00000000e+00, -2.94625034e-07, -1.00000000e+00,  0.00000000e+00,
        9.55875260e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340931, -0.07170347,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.89990520e-05, 1.27966098e-05,-4.90505535e+00,-7.18728015e-03,
 -1.23490588e-03, 1.36211364e-06]


--- 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,
  9.52126650e-02,-6.99377641e-02, 1.30422686e-01, 9.91375485e-01,
  1.42200694e-04, 1.62402469e-05,-1.31052002e-01]

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, -0.8942433 ,  3.27187637, -0.32716695,-40.53317073,
 -31.72675279, -0.95976883]

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([ 6.30306301, -0.60660069, -6.27380578, -0.60660069, 22.85244679,
       -1.60012407, -6.27380578, -1.60012407,  6.45777554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005844973116109903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49724663e-14, -9.49724663e-14,  1.00000000e+00,  9.01976936e-27,
        1.00000000e+00,  9.49724663e-14, -1.00000000e+00,  0.00000000e+00,
        9.49724663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10221103, -0.09566351,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.01871026e-05, 2.68998464e-05,-4.90504653e+00,-7.19350003e-03,
 -1.23670673e-03, 4.50050452e-08]


--- 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,
  9.52031670e-02,-6.99275371e-02, 1.30421773e-01, 9.91357115e-01,
  8.83617056e-05,-7.48464864e-05,-1.31190922e-01]

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, -0.88898282,  3.21051417, -0.50120376,-39.98521688,
 -30.29308383, -1.56825183]

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([ 6.3005803 ,  1.05537374,  6.21156167,  1.05537374, 33.86399385,
       -4.68315446,  6.21156167, -4.68315446,  7.09627042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005841999276513105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.50208115e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.50208115e-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([ 0.1022043 , -0.09566438,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.53603301e-06, 3.41290254e-05,-4.90501326e+00,-7.19400899e-03,
 -1.23947680e-03,-5.02174826e-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,
  9.51901325e-02,-6.99046739e-02, 1.30418252e-01, 9.91338168e-01,
 -5.14703435e-05,-2.13347102e-04,-1.31333884e-01]

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, -0.88413793,  3.15903893, -0.65205828,-39.51490703,
 -29.14299995, -2.0359805 ]

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([ 6.27006807,  1.34309113,  6.12452935,  1.34309113, 41.30480176,
       -7.68301324,  6.12452935, -7.68301324,  7.95493009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005805445584387142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9123821e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9123821e-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([ 0.10219936, -0.09566659,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.65404336e-05, 5.39445253e-05,-4.90504440e+00,-7.18959989e-03,
 -1.23860895e-03, 2.10915920e-06]


--- 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,
  9.51825224e-02,-6.98891707e-02, 1.30417540e-01, 9.91319326e-01,
 -1.50472000e-04,-2.94826422e-04,-1.31475793e-01]

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,  1.35613485, -1.84000653,  0.70229305, 16.49406466,
  30.94488508,  0.52577249]

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([ 6.30123969, -2.06349634,  5.95378909, -2.06349634, 31.05217306,
        8.57831199,  5.95378909,  8.57831199,  9.27435733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005842789107155938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75039833e-14, -9.50079666e-14,  1.00000000e+00,  4.51325686e-27,
        1.00000000e+00,  9.50079666e-14, -1.00000000e+00,  0.00000000e+00,
        4.75039833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08583887, -0.05521815,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.96436328e-05, 8.61254417e-05,-4.90513586e+00,-7.18027971e-03,
 -1.23437082e-03, 7.64785233e-06]


--- 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,
  9.51802569e-02,-6.98808323e-02, 1.30418754e-01, 9.91300490e-01,
 -2.08581182e-04,-3.22160630e-04,-1.31617593e-01]

qacc:
[ -0.30083799,  0.21321079,  1.01706406, -6.33660808,  1.95932824,
   0.10895023, -0.17831575, -0.20182883, -4.9844381 , -1.37102178,
   5.31758917, -6.8595196 , -0.80402513,  0.97774024, 14.98261322,
 -52.12518525,  1.33613179, -1.79119184,  0.48124224, 16.70938066,
  29.52572577,  0.05295566]

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([ 6.34475235,  1.97024735, -6.03108679,  1.97024735, 35.79910531,
        9.62220621, -6.03108679,  9.62220621,  9.48815369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005894902784449874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41680521e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.41680521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0858455 , -0.05521593,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.52335385e-05, 5.38452659e-05,-4.90505987e+00,-7.17680609e-03,
 -1.22634634e-03, 6.16999051e-06]


--- 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,
  9.51832659e-02,-6.98794951e-02, 1.30421125e-01, 9.91281574e-01,
 -2.25810253e-04,-2.97676476e-04,-1.31760014e-01]

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,  1.31861847, -1.75030007,  0.28946662, 16.85202519,
  28.37410726, -0.31488111]

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([ 6.35279547,  1.7696992 , -6.10132568,  1.7696992 , 45.41392445,
       11.32974243, -6.10132568, 11.32974243,  9.63900524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005904534791448396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70072183e-14,  9.40144367e-14,  1.00000000e+00,  4.41935715e-27,
        1.00000000e+00, -9.40144367e-14, -1.00000000e+00,  0.00000000e+00,
       -4.70072183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08585024, -0.05521348,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.80691041e-05, 2.65452842e-05,-4.90501562e+00,-7.17528891e-03,
 -1.22197581e-03, 4.99453937e-06]


--- 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,
  9.51914893e-02,-6.98850232e-02, 1.30423991e-01, 9.91262500e-01,
 -2.02214104e-04,-2.23249550e-04,-1.31903624e-01]

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,
  1.30359074e+00,-1.71633102e+00, 1.23922171e-01, 1.69442186e+01,
  2.74433511e+01,-6.00039128e-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([ 6.33224038,  1.5033034 , -6.15120697,  1.5033034 , 57.89855572,
       12.60237503, -6.15120697, 12.60237503,  9.41215515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005879918723221966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44080247e-14,  1.88816049e-13,  1.00000000e+00, -1.78257503e-26,
        1.00000000e+00, -1.88816049e-13, -1.00000000e+00,  0.00000000e+00,
        9.44080247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08585347, -0.05521085,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.01878815e-06, 3.45743793e-06,-4.90500013e+00,-7.17579368e-03,
 -1.22108248e-03, 4.09733281e-06]


--- 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,
  9.52046547e-02,-6.98974216e-02, 1.30426800e-01, 9.91243189e-01,
 -1.36629066e-04,-1.01737368e-04,-1.32048901e-01]

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,
  1.23552033e+00,-1.71757193e+00,-1.45802909e-02, 1.77054383e+01,
  2.61063098e+01,-8.41315099e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005828010208183505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21722765e-07,  4.21722617e-07,  1.00000000e+00,  1.77850028e-13,
        1.00000000e+00, -4.21722617e-07, -1.00000000e+00,  0.00000000e+00,
       -4.21722765e-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([ 0.08627291, -0.05495842,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.50121050e-05,-1.59722907e-05,-4.90501123e+00,-7.17836555e-03,
 -1.22352588e-03, 3.45732590e-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,
  9.52131580e-02,-6.99193497e-02, 1.30428041e-01, 9.91224678e-01,
  7.67453359e-06, 2.80285380e-07,-1.32187889e-01]

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, -1.16553993, -2.38243622, -0.39175329, 40.30210909,
  -4.46494816,  3.16415409]

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([ 6.24083926,  6.06761302,  1.46018727,  6.06761302,  7.28480146,
       -4.33804539,  1.46018727, -4.33804539, 24.26700705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005770417200873235
  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([ 0.1046467 , -0.04796797,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.16107388e-05,-3.13281604e-05,-4.90504691e+00,-7.18308544e-03,
 -1.22902683e-03, 3.10804626e-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,
  9.52180921e-02,-6.99278843e-02, 1.30428596e-01, 9.91206055e-01,
  6.36529418e-05, 4.83916134e-05,-1.32327434e-01]

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,
 -8.92279717e-01, 3.34840003e+00,-1.71650356e-01,-4.02121728e+01,
 -3.25544029e+01,-2.83411905e-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([ 6.19738206, -0.96264824, -6.1221608 , -0.96264824, 38.1450006 ,
       -5.02344184, -6.1221608 , -5.02344184,  6.98726779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005718307172338788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.85380984e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.85380984e-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([ 0.10214683, -0.09568569,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.65538530e-05,-4.32992244e-06,-4.90508799e+00,-7.19063231e-03,
 -1.23136525e-03, 3.98902997e-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,
  9.52194830e-02,-6.99233164e-02, 1.30427690e-01, 9.91187138e-01,
  3.25601337e-05, 4.56469385e-05,-1.32469067e-01]

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, -0.88580713,  3.27560977, -0.3652954 ,-39.78787655,
 -30.96540386, -1.05456061]

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([ 6.22427336e+00,  1.13698380e-02,  6.22426297e+00,  1.13698380e-02,
        3.08509176e+01, -4.49853993e-02,  6.22426297e+00, -4.49853993e-02,
        6.22435553e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005750557565311065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65317721e-14, -9.65317721e-14,  1.00000000e+00,  9.31838302e-27,
        1.00000000e+00,  9.65317721e-14, -1.00000000e+00,  0.00000000e+00,
        9.65317721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213865, -0.09568635,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.76774313e-05,-4.71164165e-07,-4.90501229e+00,-7.19167307e-03,
 -1.23999608e-03, 5.51466292e-08]


--- 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,
  9.52173555e-02,-6.99058911e-02, 1.30424649e-01, 9.91167760e-01,
 -8.45153835e-05,-5.50228150e-06,-1.32613970e-01]

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, -0.87960667,  3.21435901, -0.53350143,-39.40634333,
 -29.68404874, -1.65247268]

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([ 6.21846711,  0.28409623,  6.21197412,  0.28409623, 38.30913087,
       -1.46762307,  6.21197412, -1.46762307,  6.28558686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005743595566695819
  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([ 0.10213256, -0.09568832,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.54550992e-05, 1.52083303e-05,-4.90500322e+00,-7.18789160e-03,
 -1.24481491e-03,-6.18043180e-07]


--- 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,
  9.52101386e-02,-6.98987094e-02, 1.30422393e-01, 9.91149511e-01,
 -1.21363035e-04,-7.23807065e-05,-1.32750241e-01]

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, -1.27234501, -2.56091367,  0.19604789, 40.80266508,
  -2.47583414,  4.35209871]

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([ 6.2490793 ,  0.35739168,  6.23885112,  0.35739168, 29.15833222,
       -1.31235321,  6.23885112, -1.31235321,  6.32425727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005780293663082414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9207035e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9207035e-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([ 0.10467216, -0.04797872,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.47709292e-05, 4.28028100e-05,-4.90505632e+00,-7.17926192e-03,
 -1.24613763e-03, 1.72030862e-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,
  9.51979700e-02,-6.99015688e-02, 1.30420107e-01, 9.91132226e-01,
 -7.98711618e-05,-1.56703816e-04,-1.32879192e-01]

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,
 -1.23792866e+00,-2.51026575e+00,-7.58838355e-03, 3.99813071e+01,
 -3.44575929e+00, 3.68762591e+00]

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([  6.27487083,  -2.74962697,  -5.64035065,  -2.74962697,
        31.35197411, -12.22489233,  -5.64035065, -12.22489233,
        12.23441053,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000581120006387173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91048839e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91048839e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10467893, -0.04798133,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.91456305e-05, 4.18031926e-05,-4.90502499e+00,-7.17760348e-03,
 -1.23612336e-03, 1.44920631e-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,
  9.51911322e-02,-6.99115522e-02, 1.30419305e-01, 9.91114850e-01,
  1.87598650e-06,-1.89973123e-04,-1.33008716e-01]

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,  1.3326933 , -1.78100858,  0.37129413, 16.55710789,
  27.97509483, -0.29087838]

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([  6.28140812,  -5.3222415 ,  -3.3361405 ,  -5.3222415 ,
        14.58676078, -13.24976947,  -3.3361405 , -13.24976947,
        27.41914883,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005819032293496035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.53958466e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.53958466e-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([ 0.08588401, -0.05518825,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.46565201e-06, 4.97571643e-05,-4.90503603e+00,-7.18081093e-03,
 -1.22644730e-03, 1.23206026e-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,
  9.51895507e-02,-6.99285125e-02, 1.30419284e-01, 9.91097298e-01,
  1.24053876e-04,-1.73888047e-04,-1.33139405e-01]

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,  1.31409813, -1.74420507,  0.19490698, 16.75336192,
  27.14673337, -0.59347024]

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([ 6.27599273,  2.78542261, -5.62401153,  2.78542261, 52.80631641,
       23.04522583, -5.62401153, 23.04522583, 17.68967722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005812544236617756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.55023291e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.55023291e-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([ 0.08588692, -0.05518518,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.75684551e-05, 3.52059777e-05,-4.90502798e+00,-7.18760976e-03,
 -1.22305178e-03, 2.31334982e-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,
  9.51843836e-02,-6.99321531e-02, 1.30418431e-01, 9.91079474e-01,
  1.57561082e-04,-2.09953447e-04,-1.33271928e-01]

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, -0.89642267,  3.32990943, -0.20774842,-40.4691385 ,
 -31.74601612, -0.91567347]

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([ 6.28861046,  2.34411564, -5.83538716,  2.34411564, 25.4431114 ,
        7.69449636, -5.83538716,  7.69449636,  9.37954321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005827660686937713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90509208e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90509208e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209833, -0.09569086,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.97198686e-05, 2.42555168e-05,-4.90504654e+00,-7.19645776e-03,
 -1.22291981e-03, 3.58648814e-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,
  9.51756593e-02,-6.99227545e-02, 1.30415981e-01, 9.91061218e-01,
  1.03762543e-04,-2.95501310e-04,-1.33407509e-01]

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, -0.88929317,  3.25979961, -0.3993373 ,-39.96644094,
 -30.33851597, -1.53101136]

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([ 6.30339881,  0.36490701,  6.29282762,  0.36490701, 35.18900478,
       -1.67501175,  6.29282762, -1.67501175,  6.400529  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005845375339455922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49659312e-14, -9.49659312e-14,  1.00000000e+00,  9.01852809e-27,
        1.00000000e+00,  9.49659312e-14, -1.00000000e+00,  0.00000000e+00,
        9.49659312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209159, -0.09569171,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.66316203e-06, 3.07966437e-05,-4.90501131e+00,-7.19698060e-03,
 -1.22590516e-03, 2.85587366e-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,
  9.51722535e-02,-6.99205570e-02, 1.30415491e-01, 9.91042952e-01,
  9.13229744e-05,-3.26823484e-04,-1.33543072e-01]

qacc:
[-8.33365257e+00, 1.00665190e+00,-5.35134492e+00, 1.36633270e+01,
  9.04916229e-01, 9.01912668e-01,-4.78243525e+00, 1.22653713e+01,
  2.17673776e+00,-1.29330002e+00, 4.98133024e+00,-8.10378755e+00,
 -5.09342164e-01, 3.59403120e-01, 8.40209052e+00,-2.94888445e+01,
  1.32962703e+00,-1.80028183e+00, 4.89959926e-01, 1.68775813e+01,
  2.96292869e+01,-1.09054999e-03]

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([ 6.3006547 , -2.05340429,  5.9566585 , -2.05340429, 28.87458735,
        7.7817807 ,  5.9566585 ,  7.7817807 ,  8.98322276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005842088389476641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75096811e-14, -9.50193621e-14,  1.00000000e+00,  4.51433959e-27,
        1.00000000e+00,  9.50193621e-14, -1.00000000e+00,  0.00000000e+00,
        4.75096811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589992, -0.0551776 ,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.58940841e-05, 4.99179603e-05,-4.90504055e+00,-7.19258750e-03,
 -1.22524794e-03, 5.28674464e-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,
  9.51740964e-02,-6.99254007e-02, 1.30416192e-01, 9.91024584e-01,
  1.20201685e-04,-3.06268745e-04,-1.33679342e-01]

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, 1.31216047,-1.76029488,
  0.29790756,17.01008325,28.46496083,-0.36561557]

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([ 6.31342424,  1.57349453, -6.11419991,  1.57349453, 46.12669665,
       10.24597942, -6.11419991, 10.24597942,  8.95023573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005857383417399858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73856219e-14,  9.47712439e-14,  1.00000000e+00, -4.49079433e-27,
        1.00000000e+00, -9.47712439e-14, -1.00000000e+00,  0.00000000e+00,
        4.73856219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590479, -0.05517544,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.16388694e-06, 2.66298909e-05,-4.90500670e+00,-7.19381235e-03,
 -1.22108402e-03, 4.86550703e-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,
  9.51767352e-02,-6.99266980e-02, 1.30419537e-01, 9.91006225e-01,
  1.23123758e-04,-2.86179376e-04,-1.33815410e-01]

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,  0.19900966,  0.88662696,  0.66089185,-12.83069785,
  -1.96551614,  0.10410496]

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([ 6.29362133,  2.16865417, -5.90818149,  2.16865417, 24.98458259,
        6.86069498, -5.90818149,  6.86069498,  8.81190464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005833663361051455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.0300855e-06,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.0300855e-06, -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([ 0.09388491, -0.07517111,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.25173931e-05, 7.55745155e-06,-4.90500195e+00,-7.19708403e-03,
 -1.22039274e-03, 4.70734699e-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,
  9.51801495e-02,-6.99245036e-02, 1.30424908e-01, 9.90987867e-01,
  1.00402763e-04,-2.66077062e-04,-1.33951361e-01]

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,  0.19384536,  0.8728975 ,  0.50656297,-12.70706929,
  -1.70929731,  0.06177114]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005800300989739935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91407830e-13, -2.74456720e-07,  1.00000000e+00,  5.25331652e-20,
        1.00000000e+00,  2.74456720e-07, -1.00000000e+00,  0.00000000e+00,
        1.91407830e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09388336, -0.07517162,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.07634245e-06, 5.55519996e-06,-4.90499925e+00,-7.19697322e-03,
 -1.22327790e-03, 4.24724857e-06]


--- 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,
  9.51843228e-02,-6.99188628e-02, 1.30431778e-01, 9.90969497e-01,
  5.22998596e-05,-2.45584937e-04,-1.34087261e-01]

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,
  1.89754050e-01, 8.61600114e-01, 3.74595956e-01,-1.26026823e+01,
 -1.50682056e+00, 2.83756429e-02]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000574388757237639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66438680e-14,  7.59877392e-07,  1.00000000e+00,  7.34374904e-20,
        1.00000000e+00, -7.59877392e-07, -1.00000000e+00,  1.20370622e-35,
       -9.66438680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09388205, -0.07517235,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.02964106e-05, 4.36198297e-06,-4.90500075e+00,-7.19531216e-03,
 -1.22593535e-03, 3.81766142e-06]


--- 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,
  9.51935274e-02,-6.99199667e-02, 1.30438192e-01, 9.90951012e-01,
  4.42206632e-05,-1.75111541e-04,-1.34223914e-01]

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, 1.25783883,-1.68616185,
 -0.11388258,16.48012112,27.44825859,-0.38783242]

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([ 6.17103672, -2.12075285,  5.79517917, -2.12075285, 22.25227883,
        5.88495006,  5.79517917,  5.88495006,  8.32464134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000568669431178101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88079262e-14, -9.76158524e-14,  1.00000000e+00,  4.76442732e-27,
        1.00000000e+00,  9.76158524e-14, -1.00000000e+00,  0.00000000e+00,
        4.88079262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591881, -0.05516382,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.16666937e-05, 3.97694698e-06,-4.90500632e+00,-7.19211034e-03,
 -1.22839476e-03, 3.40421860e-06]


--- 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,
  9.52035189e-02,-6.99176325e-02, 1.30445733e-01, 9.90932531e-01,
  1.15382884e-05,-1.05147198e-04,-1.34360364e-01]

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,  0.19672009,  0.8594973 ,  0.28167856,-12.15609089,
  -1.90338638,  0.103707  ]

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([ 6.10208932,  2.03443053, -5.75296328,  2.03443053, 24.72921875,
        6.58714456, -5.75296328,  6.58714456,  8.43151284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005603861994942689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.20175746e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.20175746e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09387883, -0.07517446,  0.06198268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.06634227e-06,-1.66376067e-05,-4.90500855e+00,-7.19268631e-03,
 -1.23051797e-03, 2.30832370e-06]


--- 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,
  9.52184315e-02,-6.99217953e-02, 1.30452269e-01, 9.90913888e-01,
  1.77588124e-05, 1.28475806e-05,-1.34497828e-01]

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,  1.23025902, -1.62421693, -0.25109193, 16.04832816,
  26.41095066, -0.51566761]

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([ 6.03778205, -2.08678334,  5.66569919, -2.08678334, 20.38272514,
        5.28351175,  5.66569919,  5.28351175,  7.98379858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005526443044027099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.97444458e-07,  5.97444458e-07,  1.00000000e+00, -3.56939880e-13,
        1.00000000e+00, -5.97444458e-07, -1.00000000e+00,  5.04870979e-29,
        5.97444458e-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([ 0.08603767, -0.05544324,  0.06198292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.29856850e-05,-1.73251945e-05,-4.90501144e+00,-7.18999133e-03,
 -1.23607586e-03, 8.73873088e-07]


--- 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,
  9.52300120e-02,-6.99133011e-02, 1.30455854e-01, 9.90895047e-01,
 -5.84505860e-05, 8.18249439e-05,-1.34636533e-01]

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, -0.83302164,  3.16423579, -0.7378571 ,-37.54409992,
 -29.82935165, -0.62866978]

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([ 6.00229647,  2.09496715, -5.62482671,  2.09496715, 22.33133628,
        6.08175215, -5.62482671,  6.08175215,  8.26744553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005483642126847682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26538052e-13, -1.01230441e-13,  1.00000000e+00, -1.28095028e-26,
        1.00000000e+00,  1.01230441e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26538052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203283, -0.09572856,  0.06198305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.08558951e-06,-3.61445486e-05,-4.90503169e+00,-7.19101756e-03,
 -1.24125564e-03,-3.76746393e-07]


--- 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,
  9.52367409e-02,-6.99145313e-02, 1.30458491e-01, 9.90877221e-01,
 -5.62332490e-05, 1.33752519e-04,-1.34767621e-01]

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, -1.21289747, -2.4310923 , -0.23712465, 40.00381228,
  -3.16798756,  3.84482622]

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([ 5.98901294,  0.25353332,  5.98364411,  0.25353332, 27.4430813 ,
       -0.90903152,  5.98364411, -0.90903152,  6.02752956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005467603907601953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.03054765e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.03054765e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476747, -0.04800981,  0.0619831 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.48430021e-05,-1.64275258e-05,-4.90502571e+00,-7.18397963e-03,
 -1.24975788e-03,-2.48517708e-06]


--- 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,
  9.52387170e-02,-6.99253715e-02, 1.30459643e-01, 9.90860271e-01,
  2.27369941e-05, 1.67281269e-04,-1.34892162e-01]

qacc:
[  0.72488389, -0.98088925,  4.38617119, -8.29253277,  3.46371731,
   1.30310622,-10.04247067, 30.42606393, -0.25382202,  0.90425338,
  -5.13655178, 11.90259168,  0.30255403, -0.95803364, -3.97295278,
  12.89345972, -1.18817371, -2.40252559, -0.37113833, 39.26572296,
  -3.94382775,  3.30749427]

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([  5.9719801 ,  -3.87025374,  -4.54815152,  -3.87025374,
        28.98123078, -19.57974316,  -4.54815152, -19.57974316,
        22.63338065,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005447025122985033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.09554757e-14, -1.01910951e-13,  1.00000000e+00,  5.19292100e-27,
        1.00000000e+00,  1.01910951e-13, -1.00000000e+00,  0.00000000e+00,
        5.09554757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10477329, -0.04801165,  0.06198317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.69010590e-06,-8.27303981e-06,-4.90500339e+00,-7.18343738e-03,
 -1.24772268e-03,-2.01485377e-06]


--- 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,
  9.52372528e-02,-6.99232486e-02, 1.30458968e-01, 9.90842980e-01,
  1.44624607e-05, 1.50688623e-04,-1.35019132e-01]

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,
 -8.60107955e-01, 3.24080887e+00,-4.56698179e-01,-3.98429928e+01,
 -3.07159675e+01,-1.23288047e+00]

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([ 5.9696169 , -0.84417694, -5.909627  , -0.84417694, 36.95380164,
       -4.42602116, -5.909627  , -4.42602116,  6.60186408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005444168701324997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01964422e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01964422e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10201212, -0.09573571,  0.06198318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.28451574e-05, 7.71476960e-06,-4.90502024e+00,-7.18771845e-03,
 -1.24585910e-03,-1.58020161e-06]


--- 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,
  9.52323639e-02,-6.99083734e-02, 1.30455875e-01, 9.90825192e-01,
 -7.99521293e-05, 8.63180540e-05,-1.35149642e-01]

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, -0.85616475,  3.18805754, -0.60443201,-39.44989819,
 -29.48547625, -1.79367423]

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([ 5.96896294,  0.91591055,  5.89827318,  0.91591055, 39.35694022,
       -5.18463617,  5.89827318, -5.18463617,  6.7740567 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005443378195496146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27474036e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.27474036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10200615, -0.09573679,  0.06198318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.30932408e-06, 1.83806024e-05,-4.90500263e+00,-7.18566272e-03,
 -1.24943321e-03,-2.17159674e-06]


--- 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,
  9.52224401e-02,-6.99035829e-02, 1.30452973e-01, 9.90808440e-01,
 -9.57657479e-05, 4.98572483e-06,-1.35272415e-01]

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, -1.25870664, -2.52116935,  0.04768234, 40.08580688,
  -3.09197681,  3.90580074]

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([ 5.9975911 ,  0.43088343,  5.98209315,  0.43088343, 29.23547061,
       -1.67379827,  5.98209315, -1.67379827,  6.1181529 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005477962029006855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.06677036e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.06677036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479135, -0.04801794,  0.06198307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.98966677e-05, 4.12664641e-05,-4.90504697e+00,-7.17873212e-03,
 -1.24955064e-03, 2.40318383e-07]


--- 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,
  9.52075996e-02,-6.99087018e-02, 1.30449559e-01, 9.90792574e-01,
 -3.45529232e-05,-9.47903175e-05,-1.35388573e-01]

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, -1.22921376, -2.47736797, -0.12801082, 39.40671393,
  -3.92763587,  3.33613917]

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([  6.01884599,  -2.73401963,  -5.36205593,  -2.73401963,
        36.62900211, -15.60758945,  -5.36205593, -15.60758945,
        13.97688605,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005503611006636572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.04315723e-14, -1.00863145e-13,  1.00000000e+00,  5.08668696e-27,
        1.00000000e+00,  1.00863145e-13, -1.00000000e+00,  0.00000000e+00,
        5.04315723e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479722, -0.04801998,  0.06198299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.04308842e-05, 4.22339999e-05,-4.90502899e+00,-7.17847148e-03,
 -1.23956624e-03,-3.53105175e-08]


--- 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,
  9.51980422e-02,-6.99209275e-02, 1.30447386e-01, 9.90776570e-01,
  6.70099957e-05,-1.44545591e-04,-1.35505585e-01]

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 ,  1.32081876, -1.77666808,  0.31019765, 16.60312384,
  27.51158232, -0.43338586]

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([  6.01442853,  -5.15323468,  -3.10121312,  -5.15323468,
        15.06493474, -15.03907685,  -3.10121312, -15.03907685,
        31.00461441,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005498282172053809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01921798e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01921798e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595605, -0.05513441,  0.06198301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.17164027e-05, 5.16173727e-05,-4.90505189e+00,-7.18302210e-03,
 -1.22975097e-03,-2.95572713e-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,
  9.51849692e-02,-6.99200013e-02, 1.30443951e-01, 9.90760130e-01,
  7.96535291e-05,-2.44594932e-04,-1.35625584e-01]

qacc:
[ -2.97938042,  1.30350448, -5.95857443, 12.34444411,  2.54223507,
  -0.04332885, -0.44098428,  1.47473835, -3.73115567,  1.44247231,
  -5.76366219,  9.55036623, -0.98032478,  1.41506887,  4.60305037,
 -16.47227912, -0.87894105,  3.28794437, -0.31545617,-40.64225986,
 -30.93976005, -1.50137457]

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([ 6.03622659,  2.26149371, -5.59657731,  2.26149371, 24.5645812 ,
        7.48703272, -5.59657731,  7.48703272,  9.06162523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005524568200646757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.0096105e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.0096105e-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([ 0.10198178, -0.09573599,  0.06198293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.90685209e-05, 4.06659220e-05,-4.90504483e+00,-7.19098121e-03,
 -1.22570433e-03, 1.19566813e-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,
  9.51771750e-02,-6.99262208e-02, 1.30442045e-01, 9.90743587e-01,
  1.33484566e-04,-2.92991718e-04,-1.35746241e-01]

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,  1.31973118, -1.78640683,  0.38205159, 16.90068793,
  28.38064653, -0.33983976]

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([ 6.06333528, -1.84436777,  5.7760144 , -1.84436777, 29.00993629,
        7.32719283,  5.7760144 ,  7.32719283,  8.40301752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005557227416146393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.99450059e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.99450059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859638 , -0.0551298 ,  0.06198283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.21522197e-06, 4.91881923e-05,-4.90504097e+00,-7.19096330e-03,
 -1.22409282e-03, 2.98037971e-06]


--- 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,
  9.51701826e-02,-6.99289126e-02, 1.30442991e-01, 9.90727048e-01,
  1.60357426e-04,-3.41458033e-04,-1.35866754e-01]

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,  0.20042954,  0.88192569,  0.7133802 ,-13.34958046,
  -1.86416775,  0.07564058]

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([ 6.07933545,  2.16159741, -5.68206091,  2.16159741, 25.9190378 ,
        7.54751663, -5.68206091,  7.54751663,  8.95059865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005576488578391197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.34445665e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.34445665e-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([ 0.09386407, -0.07516736,  0.06198277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.45951019e-05, 3.39152887e-05,-4.90502100e+00,-7.19609564e-03,
 -1.21966478e-03, 3.74036834e-06]


--- 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,
  9.51639687e-02,-6.99281255e-02, 1.30446172e-01, 9.90710506e-01,
  1.60786635e-04,-3.89619168e-04,-1.35987189e-01]

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,  0.19464502,  0.86971894,  0.55853744,-13.11993864,
  -1.64522555,  0.042742  ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005570515218998993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96517361e-14, -9.08658511e-07,  1.00000000e+00,  9.05493981e-20,
        1.00000000e+00,  9.08658511e-07, -1.00000000e+00,  1.20370622e-35,
        9.96517361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09386287, -0.07516706,  0.06198279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.54218548e-06, 3.10560221e-05,-4.90501410e+00,-7.19803530e-03,
 -1.21842938e-03, 4.69466544e-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,
  9.51628424e-02,-6.99342110e-02, 1.30449463e-01, 9.90693817e-01,
  2.01872344e-04,-3.88127526e-04,-1.36108669e-01]

qacc:
[ 2.26211697e+00,-1.17679050e-01, 4.87130078e-01,-3.22486157e+00,
  3.00778803e+00, 1.71215135e+00,-8.62159733e+00, 1.96327374e+01,
  2.05928668e+00, 9.12561554e-01,-1.22539327e+00,-2.64426452e+00,
 -3.60221409e-01, 2.54500428e-01,-1.58803974e+00, 4.13331269e+00,
  1.27188630e+00,-1.71815302e+00, 2.73534416e-02, 1.67631486e+01,
  2.73600327e+01,-5.39239941e-01]

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([ 6.05368669, -1.91879739,  5.74154501, -1.91879739, 24.11160124,
        6.03487026,  5.74154501,  6.03487026,  8.070512  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005545607034876804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00496617e-14, -1.00099323e-13,  1.00000000e+00,  5.00993728e-27,
        1.00000000e+00,  1.00099323e-13, -1.00000000e+00,  0.00000000e+00,
        5.00496617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597461, -0.05512263,  0.06198286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.43836720e-06, 2.91709893e-05,-4.90501163e+00,-7.19837000e-03,
 -1.21696507e-03, 5.67172271e-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,
  9.51583181e-02,-6.99275154e-02, 1.30450268e-01, 9.90676776e-01,
  1.58328199e-04,-4.35118401e-04,-1.36232564e-01]

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, -0.84950223,  3.19527448, -0.62120487,-38.622125  ,
 -29.7754057 , -1.19929184]

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([ 6.0330502 ,  2.11416475, -5.6504869 ,  2.11416475, 23.30055283,
        6.46074331, -5.6504869 ,  6.46074331,  8.45037742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005520739251797802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00550214e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00550214e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10195074, -0.09574392,  0.06198294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.44575653e-05, 1.39618940e-05,-4.90500530e+00,-7.20228871e-03,
 -1.21547824e-03, 5.84635782e-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,
  9.51589315e-02,-6.99278008e-02, 1.30451784e-01, 9.90659631e-01,
  1.56007043e-04,-4.30798242e-04,-1.36357199e-01]

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,  1.28443424, -1.74524563,  0.17761559, 16.92405978,
  28.22420117, -0.38655356]

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([ 6.02868431, -1.93975245,  5.70809906, -1.93975245, 28.66255956,
        7.6915475 ,  5.70809906,  7.6915475 ,  8.64246132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005515475633631889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00646173e-13, -2.01292345e-13,  1.00000000e+00,  2.02593041e-26,
        1.00000000e+00,  2.01292345e-13, -1.00000000e+00,  0.00000000e+00,
        1.00646173e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598198, -0.05511801,  0.06198296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.93073111e-05, 2.91794899e-05,-4.90501711e+00,-7.19841723e-03,
 -1.21668162e-03, 6.87032490e-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,
  9.51646365e-02,-6.99349515e-02, 1.30453449e-01, 9.90642304e-01,
  1.94868388e-04,-3.76987319e-04,-1.36483132e-01]

qacc:
[-2.24837954e+00,-5.28132355e-01, 1.94420948e+00,-3.14134011e+00,
  1.79066147e+00,-1.12883860e+00, 2.78898566e+00, 7.72631238e-02,
 -2.49241081e+00,-7.32475432e-01, 2.52384425e+00,-4.76075114e+00,
 -6.72185751e-01, 5.33461204e-01, 1.94978020e+01,-6.80405407e+01,
  1.27288737e+00,-1.71632972e+00, 3.71547871e-02, 1.70244444e+01,
  2.73218753e+01,-6.67611165e-01]

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([ 6.01581622,  0.91248186, -5.9462107 ,  0.91248186, 61.32861388,
        8.48808204, -5.9462107 ,  8.48808204,  7.31836355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005499956265681422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00930168e-13, -1.00930168e-13,  1.00000000e+00,  1.01868989e-26,
        1.00000000e+00,  1.00930168e-13, -1.00000000e+00,  0.00000000e+00,
        1.00930168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598546, -0.05511589,  0.061983  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.91171635e-06, 9.89664522e-06,-4.90499966e+00,-7.19975581e-03,
 -1.21495283e-03, 6.35433331e-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,
  9.51669290e-02,-6.99291547e-02, 1.30453042e-01, 9.90624682e-01,
  1.48646590e-04,-3.72533641e-04,-1.36611050e-01]

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, -0.85311822,  3.23686883, -0.51794862,-38.77561029,
 -30.25414328, -0.98307321]

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([ 5.99909711,  2.073411  , -5.62939899,  2.073411  , 23.61355397,
        6.48772783, -5.62939899,  6.48772783,  8.38864638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005479780143742563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01301785e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01301785e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10193179, -0.09575225,  0.06198307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.84832800e-05,-5.81394571e-06,-4.90500887e+00,-7.20318143e-03,
 -1.21653773e-03, 6.09022138e-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,
  9.51743571e-02,-6.99303277e-02, 1.30453313e-01, 9.90606934e-01,
  1.43896242e-04,-3.16848356e-04,-1.36739828e-01]

qacc:
[ -1.49129554,  0.88422173, -4.33066465,  9.84409607,  2.46425866,
  -1.80244992,  8.13666505,-16.70677515,  2.22418056,  1.5098046 ,
  -7.14769441, 13.14768032, -0.43121537,  0.5603122 ,-11.83289347,
  38.52944033,  1.28390475, -1.74243207,  0.1695622 , 17.0417685 ,
  28.20828873, -0.44568165]

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([ 5.99619754, -1.94748756,  5.67112662, -1.94748756, 27.22222238,
        7.2891018 ,  5.67112662,  7.2891018 ,  8.49930425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005476279569951725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.068327e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        5.068327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599266, -0.05511195,  0.06198308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.99813716e-05, 9.53460393e-06,-4.90500619e+00,-7.19864318e-03,
 -1.22105562e-03, 5.49493863e-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,
  9.51825852e-02,-6.99279923e-02, 1.30455722e-01, 9.90589188e-01,
  1.13767525e-04,-2.61166975e-04,-1.36868476e-01]

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,  0.19999702,  0.87709959,  0.53461071,-12.56970733,
  -1.73704057,  0.06826469]

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([ 5.98706612,  1.93685229, -5.66511817,  1.93685229, 25.32443676,
        6.61127085, -5.66511817,  6.61127085,  8.2473994 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005465252590000849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01571062e-13, -6.98674227e-07,  1.00000000e+00,  7.09650835e-20,
        1.00000000e+00,  6.98674227e-07, -1.00000000e+00, -1.20370622e-35,
        1.01571062e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09385389, -0.07516894,  0.06198311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.52578769e-07,-1.02808801e-05,-4.90500441e+00,-7.19947816e-03,
 -1.22235904e-03, 4.54477848e-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,
  9.51915986e-02,-6.99221946e-02, 1.30459760e-01, 9.90571430e-01,
  5.84393334e-05,-2.05077709e-04,-1.36997065e-01]

qacc:
[-2.77195272e+00, 1.09840133e+00,-3.77073931e+00, 5.77973475e+00,
 -4.12629387e+00, 1.57108870e+00,-7.33377801e+00, 1.46232243e+01,
 -2.14249179e+00,-4.29105047e-01, 6.35294092e-01, 7.13109141e-01,
 -9.10641141e-01, 1.33387183e+00,-9.64759134e+00, 3.29071542e+01,
  1.96323788e-01, 8.65565001e-01, 4.07014500e-01,-1.25090682e+01,
 -1.52248176e+00, 3.14721607e-02]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005437220153239134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02094728e-13, -7.98988032e-07,  1.00000000e+00,  8.15724658e-20,
        1.00000000e+00,  7.98988032e-07, -1.00000000e+00,  0.00000000e+00,
        1.02094728e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09385257, -0.07516957,  0.0619832 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16233832e-05,-1.12246736e-05,-4.90500711e+00,-7.19706744e-03,
 -1.22702211e-03, 3.39020341e-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,
  9.52056215e-02,-6.99231656e-02, 1.30463373e-01, 9.90553514e-01,
  4.36731158e-05,-9.94399066e-05,-1.37126673e-01]

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,  1.25237869, -1.69216735, -0.10602026, 16.69566448,
  27.31907186, -0.52056168]

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([ 5.92971643, -2.02675676,  5.57259311, -2.02675676, 22.2700553 ,
        5.94299486,  5.57259311,  5.94299486,  8.09118861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005395892219560022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02876687e-13, -2.05753373e-13,  1.00000000e+00,  2.11672253e-26,
        1.00000000e+00,  2.05753373e-13, -1.00000000e+00,  0.00000000e+00,
        1.02876687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860033 , -0.05510525,  0.06198333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.30278951e-05,-1.13951405e-05,-4.90501390e+00,-7.19312756e-03,
 -1.23149123e-03, 2.25219833e-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,
  9.52163371e-02,-6.99114282e-02, 1.30464168e-01, 9.90535301e-01,
 -5.43068426e-05,-4.20103557e-05,-1.37258197e-01]

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, -0.82683824,  3.17709323, -0.70480559,-37.90860214,
 -29.58189481, -0.96483012]

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([ 5.90214218,  2.01253333, -5.54842247,  2.01253333, 22.22582788,
        5.92095533, -5.54842247,  5.92095533,  8.04980127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000536247343352711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03517811e-13, -1.03517811e-13,  1.00000000e+00,  1.07159372e-26,
        1.00000000e+00,  1.03517811e-13, -1.00000000e+00,  0.00000000e+00,
        1.03517811e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10189992, -0.09576948,  0.06198343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.28621336e-06,-3.11504461e-05,-4.90502540e+00,-7.19291642e-03,
 -1.23579031e-03, 7.81320301e-07]


--- 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,
  9.52220747e-02,-6.99095352e-02, 1.30464545e-01, 9.90518111e-01,
 -7.31209066e-05,-2.33037237e-06,-1.37382188e-01]

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, -1.24447898, -2.4610937 , -0.10423246, 40.42662962,
  -3.35788574,  3.79940053]

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([ 5.90522708,  0.30551698,  5.89731856,  0.30551698, 28.81447703,
       -1.18683852,  5.89731856, -1.18683852,  5.96671253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005366214582447487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.06891284e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.06891284e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488798, -0.0480573 ,  0.06198342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.35602095e-05,-9.92399369e-06,-4.90503451e+00,-7.18475752e-03,
 -1.24320330e-03,-6.16302669e-07]


--- 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,
  9.52229417e-02,-6.99173526e-02, 1.30463905e-01, 9.90501808e-01,
 -1.45296838e-05, 1.83121914e-05,-1.37499703e-01]

qacc:
[ -8.9711794 ,  1.15020392, -3.28441989,  1.99940532, -1.89807827,
   0.14213611, -2.72838678,  9.95242452,  2.87939611, -2.19317244,
  10.0278054 ,-19.55153438, -0.19555807, -0.08794144, -8.08170253,
  26.66016394, -1.21766005, -2.42761689, -0.25440559, 39.64341046,
  -4.11163633,  3.26750608]

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([  5.91364148,  -3.79281071,  -4.53715136,  -3.79281071,
        29.50654114, -19.72237543,  -4.53715136, -19.72237543,
        22.40047007,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005376415886274577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.16246812e-14, -2.06498725e-13,  1.00000000e+00,  1.06604308e-26,
        1.00000000e+00,  2.06498725e-13, -1.00000000e+00,  0.00000000e+00,
        5.16246812e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048933 , -0.04805995,  0.06198339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.94377467e-06,-4.70866373e-06,-4.90500231e+00,-7.18305482e-03,
 -1.24038329e-03,-2.17689123e-07]


--- 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,
  9.52192866e-02,-6.99232468e-02, 1.30465206e-01, 9.90485521e-01,
  3.70274850e-05, 2.43505945e-06,-1.37616972e-01]

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, -1.13051981,  0.4808085 ,  0.48537325, -0.97290006,
 -18.57000452,  0.12221481]

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([ 5.89629414, -1.2824573 , -5.75513578, -1.2824573 , 39.35163818,
       -7.45508911, -5.75513578, -7.45508911,  7.55756396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005355379659583486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03654932e-13,  7.21145810e-07,  1.00000000e+00, -7.47503196e-20,
        1.00000000e+00, -7.21145810e-07, -1.00000000e+00,  0.00000000e+00,
        1.03654932e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339625, -0.07180907,  0.06198345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.21214500e-05, 8.47134039e-06,-4.90501047e+00,-7.18622329e-03,
 -1.23772376e-03, 1.45947721e-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,
  9.52122770e-02,-6.99163635e-02, 1.30464138e-01, 9.90468789e-01,
  1.97719646e-06,-6.18818656e-05,-1.37737337e-01]

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,
 -8.38642912e-01, 3.19438583e+00,-5.92318294e-01,-3.95586355e+01,
 -2.99488417e+01,-1.56266191e+00]

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([ 5.90153142, -0.64752697, -5.86589993, -0.64752697, 20.17150866,
       -1.57523913, -5.86589993, -1.57523913,  6.07541946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005361732680365938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03532113e-13, -2.07064225e-13,  1.00000000e+00,  2.14377967e-26,
        1.00000000e+00,  2.07064225e-13, -1.00000000e+00,  0.00000000e+00,
        1.03532113e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10187405, -0.09577519,  0.06198343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.62071909e-05, 2.07006842e-05,-4.90501068e+00,-7.18856636e-03,
 -1.23732642e-03,-1.19422073e-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,
  9.52008339e-02,-6.99075469e-02, 1.30464834e-01, 9.90452008e-01,
 -4.12183494e-05,-1.59358425e-04,-1.37857874e-01]

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, -1.10836288,  0.4833107 ,  0.44100294, -1.75015699,
 -16.98274651, -0.08845671]

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([ 5.88341156,  0.51712914,  5.86064067,  0.51712914, 29.68382131,
       -2.10009214,  5.86064067, -2.10009214,  6.06871875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005339744979389162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.24902117e-07, -7.78332589e-07,  1.00000000e+00,  2.52881906e-13,
        1.00000000e+00,  7.78332589e-07, -1.00000000e+00,  0.00000000e+00,
        3.24902117e-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([ 0.10315712, -0.0718952 ,  0.0619835 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.61594419e-05, 3.45796267e-05,-4.90502255e+00,-7.18539431e-03,
 -1.23747890e-03, 1.32119905e-06]


--- 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,
  9.51945377e-02,-6.99057787e-02, 1.30466302e-01, 9.90435170e-01,
 -4.44224920e-05,-2.05900965e-04,-1.37978727e-01]

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, 1.28672935,-1.76207543,
  0.19311286,16.29392865,27.98041836,-0.16278713]

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([ 5.90157677, -4.24614881,  4.09863741, -4.24614881, 17.74026587,
       12.26476768,  4.09863741, 12.26476768, 18.60775774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005361787676659985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.03531051e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.03531051e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602972, -0.05508657,  0.06198343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.95393068e-05, 4.74872973e-05,-4.90504437e+00,-7.18272069e-03,
 -1.23137358e-03, 3.03425716e-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,
  9.51933390e-02,-6.99109329e-02, 1.30467987e-01, 9.90418194e-01,
 -7.40046902e-06,-2.03244696e-04,-1.38100542e-01]

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,  1.27435825, -1.73062947,  0.05397264, 16.52640801,
  27.13930004, -0.48871714]

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([ 5.89878761,  1.98520085, -5.55469826,  1.98520085, 55.57694909,
       17.75454288, -5.55469826, 17.75454288, 12.24410683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005358404551766005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.03596417e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.03596417e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603324, -0.05508381,  0.06198344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.69966688e-06, 2.85242046e-05,-4.90501104e+00,-7.18435946e-03,
 -1.22666128e-03, 2.93546497e-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,
  9.51971953e-02,-6.99229065e-02, 1.30469406e-01, 9.90401003e-01,
  7.00075859e-05,-1.52784464e-04,-1.38223819e-01]

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,  1.26376608, -1.70482703, -0.06632631, 16.69850456,
  26.46160755, -0.74260465]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005330949884838065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04129944e-13, -1.04129944e-13,  1.00000000e+00,  1.08430452e-26,
        1.00000000e+00,  1.04129944e-13, -1.00000000e+00,  0.00000000e+00,
        1.04129944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603563, -0.05508106,  0.06198353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.30277168e-05, 1.31594686e-05,-4.90500419e+00,-7.18801342e-03,
 -1.22523763e-03, 3.04545123e-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,
  9.51977013e-02,-6.99218911e-02, 1.30468869e-01, 9.90383541e-01,
  6.14988727e-05,-1.52229070e-04,-1.38348889e-01]

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, -0.83756655,  3.24724634, -0.48887464,-39.09713557,
 -30.65085656, -0.8984187 ]

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([ 5.85433521,  2.06507314, -5.47802097,  2.06507314, 24.52742504,
        7.03927505, -5.47802097,  7.03927505,  8.50796103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00053044158605077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04650828e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04650828e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10184253, -0.09578388,  0.06198361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.37515000e-05, 1.01960004e-06,-4.90502237e+00,-7.19372970e-03,
 -1.22700091e-03, 3.36423780e-06]


--- 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,
  9.51948677e-02,-6.99080978e-02, 1.30465814e-01, 9.90365631e-01,
 -3.21273137e-05,-1.99242819e-04,-1.38476988e-01]

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, -0.83491666,  3.19444557, -0.62959098,-38.8591203 ,
 -29.44392916, -1.52313998]

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([ 5.85536375,  0.24711834,  5.85014676,  0.24711834, 39.678057  ,
       -1.42871762,  5.85014676, -1.42871762,  5.91571477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005305666573518913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.23130793e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.23130793e-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([ 0.10183626, -0.09578563,  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:
[-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,
  4.59228964e-06, 1.11577372e-05,-4.90500015e+00,-7.19154427e-03,
 -1.23149523e-03, 2.24460942e-06]


--- 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,
  9.51972327e-02,-6.99014475e-02, 1.30464220e-01, 9.90347676e-01,
 -8.41788689e-05,-1.93103477e-04,-1.38605324e-01]

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,  1.29965914, -1.78571317,  0.36524595, 16.90677876,
  29.19906154, -0.12374465]

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([ 5.89882098, -1.87279875,  5.59363154, -1.87279875, 29.09058108,
        7.76481238,  5.59363154,  7.76481238,  8.49855084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005358445038823184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.17978171e-14,  1.03595634e-13,  1.00000000e+00, -5.36602772e-27,
        1.00000000e+00, -1.03595634e-13, -1.00000000e+00,  0.00000000e+00,
        5.17978171e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604783, -0.05507511,  0.06198344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.92670415e-05, 3.30123739e-05,-4.90503869e+00,-7.18457457e-03,
 -1.23251044e-03, 4.08957960e-06]


--- 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,
  9.52047445e-02,-6.99018024e-02, 1.30463439e-01, 9.90329590e-01,
 -9.47134710e-05,-1.35940045e-04,-1.38734553e-01]

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, 1.28669608,-1.75130554,
  0.20313754,17.02191202,28.14305479,-0.45337008]

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([ 5.92243978,  1.03656979, -5.83102187,  1.03656979, 52.48208727,
        8.27682098, -5.83102187,  8.27682098,  7.39379468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005387077842413934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03045014e-13, -3.09135042e-13,  1.00000000e+00,  3.18548248e-26,
        1.00000000e+00,  3.09135042e-13, -1.00000000e+00,  0.00000000e+00,
        1.03045014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605263, -0.05507362,  0.06198335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.24842442e-05, 8.94956550e-06,-4.90500787e+00,-7.18297341e-03,
 -1.23040727e-03, 2.75495756e-06]


--- 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,
  9.52173583e-02,-6.99090477e-02, 1.30462906e-01, 9.90311293e-01,
 -6.38166199e-05,-2.94641963e-05,-1.38865182e-01]

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,  1.27550091, -1.72261794,  0.0619911 , 17.09462397,
  27.29181171, -0.70812011]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005384922805745096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03086253e-13, -1.03086253e-13,  1.00000000e+00, -1.06267755e-26,
        1.00000000e+00,  1.03086253e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03086253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605603, -0.05507189,  0.06198336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.76834924e-06,-1.11944931e-05,-4.90500503e+00,-7.18343818e-03,
 -1.23174546e-03, 1.70548053e-06]


--- 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,
  9.52251222e-02,-6.99258910e-02, 1.30461203e-01, 9.90293853e-01,
  4.58116211e-05, 5.69994962e-05,-1.38989495e-01]

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 , -1.21249722, -2.39950504, -0.29244299, 40.37390876,
  -4.44279647,  3.18543852]

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([ 5.92061565,  5.81343907,  1.1214347 ,  5.81343907,  6.69549424,
       -4.01691642,  1.1214347 , -4.01691642, 26.74402947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005384867717732056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.15436536e-14,  1.03087307e-13,  1.00000000e+00, -5.31349645e-27,
        1.00000000e+00, -1.03087307e-13, -1.00000000e+00,  0.00000000e+00,
        5.15436536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495772, -0.04808805,  0.06198336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.99723852e-05,-2.78787041e-05,-4.90502825e+00,-7.18600564e-03,
 -1.23639600e-03, 9.19570336e-07]


--- 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,
  9.52294789e-02,-6.99293803e-02, 1.30458611e-01, 9.90276139e-01,
  6.67621265e-05, 9.20389997e-05,-1.39115621e-01]

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,
 -8.51778009e-01, 3.33851772e+00,-2.21993493e-01,-4.03347395e+01,
 -3.16251999e+01,-9.18345241e-01]

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([ 5.94738518, -1.03419175, -5.85677709, -1.03419175, 39.15659089,
       -5.86409319, -5.85677709, -5.86409319,  6.98286881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005417281493934195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02470494e-13, -1.02470494e-13,  1.00000000e+00,  1.05002022e-26,
        1.00000000e+00,  1.02470494e-13, -1.00000000e+00,  0.00000000e+00,
        1.02470494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10180042, -0.09579158,  0.06198326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.21369286e-05,-6.01652000e-06,-4.90505345e+00,-7.19157401e-03,
 -1.23797463e-03, 1.70101166e-06]


--- 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,
  9.52304534e-02,-6.99197821e-02, 1.30454412e-01, 9.90257983e-01,
  2.66068486e-07, 7.82848430e-05,-1.39244825e-01]

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, -0.84553075,  3.27188234, -0.4019562 ,-39.90398609,
 -30.24227266, -1.55742826]

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([ 5.98335623,  0.37713969,  5.97145857,  0.37713969, 36.17657005,
       -1.90691421,  5.97145857, -1.90691421,  6.1037913 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005460771317026686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01654415e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01654415e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1017934 , -0.09579139,  0.06198313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.46596239e-06,-2.95364179e-07,-4.90500198e+00,-7.19083045e-03,
 -1.24499227e-03,-1.13724614e-06]


--- 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,
  9.52280696e-02,-6.98973213e-02, 1.30447977e-01, 9.90239227e-01,
 -1.52612668e-04, 1.78538928e-05,-1.39378082e-01]

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, -0.83959467,  3.21564676, -0.5591035 ,-39.52065932,
 -29.12518156, -2.05149164]

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([ 5.98835217,  0.68467155,  5.94908284,  0.68467155, 44.51654236,
       -4.43415506,  5.94908284, -4.43415506,  6.49867282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005466805876665898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61566523e-14, -5.07711015e-14,  1.00000000e+00, -3.86655712e-27,
        1.00000000e+00,  5.07711015e-14, -1.00000000e+00,  0.00000000e+00,
       -7.61566523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10178816, -0.09579252,  0.06198311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.89042901e-05, 1.77375947e-05,-4.90501561e+00,-7.18519177e-03,
 -1.24840397e-03,-8.29652403e-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,
  9.52203866e-02,-6.98851992e-02, 1.30442956e-01, 9.90221634e-01,
 -2.24370480e-04,-5.96495319e-05,-1.39502911e-01]

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, -1.32480457, -2.584699  ,  0.35356017, 41.35433914,
  -2.80033084,  4.25318001]

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([ 6.08353792,  0.45816726,  6.06626049,  0.45816726, 31.34416949,
       -1.90786306,  6.06626049, -1.90786306,  6.22763334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005581545794050152
  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([ 0.10497999, -0.04810378,  0.06198275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.45423516e-05, 4.80046423e-05,-4.90509041e+00,-7.17464927e-03,
 -1.24847312e-03, 2.40746920e-06]


--- 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,
  9.52075515e-02,-6.98831941e-02, 1.30438468e-01, 9.90205040e-01,
 -2.17018678e-04,-1.55806211e-04,-1.39620584e-01]

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,-1.2880231 ,-2.52923928,
  0.13316259,40.46944312,-3.71819007, 3.60829766]

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([  6.1442857 ,  -2.77637123,  -5.48124161,  -2.77637123,
        31.70616003, -12.94765995,  -5.48124161, -12.94765995,
        12.70256449,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005654574546632152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90851706e-14, -9.81703412e-14,  1.00000000e+00,  4.81870794e-27,
        1.00000000e+00,  9.81703412e-14, -1.00000000e+00,  0.00000000e+00,
        4.90851706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498585, -0.04810764,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.00165894e-05, 4.26393566e-05,-4.90504208e+00,-7.17100287e-03,
 -1.23772985e-03, 2.02122816e-06]


--- 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,
  9.51922538e-02,-6.98918710e-02, 1.30434048e-01, 9.90188896e-01,
 -1.30678926e-04,-2.51234616e-04,-1.39735002e-01]

qacc:
[ 6.51722102e-01,-5.51076485e-01, 5.39324586e+00,-1.82550601e+01,
  5.03318136e+00, 3.40732658e-01, 1.62494168e+00,-1.02670022e+01,
  2.40642609e+00, 3.85899802e-01,-5.31079728e-01,-3.52079611e+00,
 -8.69208343e-02,-2.33451467e-01,-3.86905967e+00, 1.19776780e+01,
 -6.15643223e-01,-2.67049017e+00, 1.71940356e-02, 3.90565944e+01,
  5.87442328e+00, 1.63670480e+00]

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([  6.1724306 ,  -5.07170239,  -3.51805832,  -5.07170239,
        18.38218842, -17.60182812,  -3.51805832, -17.60182812,
        31.54757382,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005688367352516821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87935710e-14,  9.75871420e-14,  1.00000000e+00, -4.76162514e-27,
        1.00000000e+00, -9.75871420e-14, -1.00000000e+00,  0.00000000e+00,
        4.87935710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10014341, -0.04694967,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.76664069e-06, 4.63017976e-05,-4.90503771e+00,-7.17228857e-03,
 -1.22730422e-03, 1.69388441e-06]


--- 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,
  9.51822279e-02,-6.99077420e-02, 1.30431210e-01, 9.90172566e-01,
 -3.19194516e-06,-2.97218534e-04,-1.39850638e-01]

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 ,  1.31792382, -1.79853144,  0.39540452, 16.91703681,
  27.35460221, -0.61774151]

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([  6.19408247,  -4.7173423 ,  -4.01414241,  -4.7173423 ,
        19.63725207, -15.79815218,  -4.01414241, -15.79815218,
        24.75976449,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005714348836802496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85717208e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.85717208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609324, -0.05505742,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.84583154e-05, 5.29793532e-05,-4.90506041e+00,-7.17877345e-03,
 -1.21813187e-03, 1.58482934e-06]


--- 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,
  9.51773926e-02,-6.99306640e-02, 1.30429243e-01, 9.90155976e-01,
  1.65525366e-04,-2.95175164e-04,-1.39967956e-01]

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, 1.29768687,-1.76274899,
  0.21772344,17.05399734,26.66065954,-0.85709292]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005718495716383193
  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([ 0.08609542, -0.05505485,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.68411989e-05, 4.45309444e-05,-4.90506199e+00,-7.18826306e-03,
 -1.21452548e-03, 3.41396249e-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,
  9.51690845e-02,-6.99400369e-02, 1.30427002e-01, 9.90139035e-01,
  2.43608615e-04,-3.45041155e-04,-1.40087519e-01]

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, -0.86821214,  3.38728133, -0.06846742,-41.23840801,
 -32.04235251, -1.11831773]

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([ 6.20275237,  2.2443868 , -5.78246183,  2.2443868 , 28.53682898,
        8.66867921, -5.78246183,  8.66867921,  9.56738662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005724749044004884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69669601e-14, -9.69669601e-14,  1.00000000e+00,  9.40259136e-27,
        1.00000000e+00,  9.69669601e-14, -1.00000000e+00,  0.00000000e+00,
        9.69669601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10174853, -0.09578672,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.83439424e-05, 3.94217353e-05,-4.90508964e+00,-7.19986313e-03,
 -1.21410786e-03, 5.43880851e-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,
  9.51573355e-02,-6.99361657e-02, 1.30423653e-01, 9.90121596e-01,
  2.32692268e-04,-4.44145977e-04,-1.40210463e-01]

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, -0.86023042,  3.31103701, -0.27696922,-40.61263716,
 -30.61100798, -1.68761826]

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([ 6.24540929,  0.67782301,  6.2085178 ,  0.67782301, 35.28827868,
       -3.17079304,  6.2085178 , -3.17079304,  6.59158475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005775894962814915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61083115e-14, -9.61083115e-14,  1.00000000e+00,  9.23680754e-27,
        1.00000000e+00,  9.61083115e-14, -1.00000000e+00,  0.00000000e+00,
        9.61083115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10174172, -0.09578588,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.19984418e-05, 3.76616647e-05,-4.90503163e+00,-7.20341013e-03,
 -1.21616679e-03, 4.33923532e-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,
  9.51421744e-02,-6.99193084e-02, 1.30418470e-01, 9.90103518e-01,
  1.34179906e-04,-5.90338933e-04,-1.40337655e-01]

qacc:
[  0.25193559, -0.92962928,  6.4893406 ,-18.29525358, -6.01486406,
  -0.59632948,  1.95877608, -1.8118225 ,  1.43279598,  1.96275084,
  -9.60615996, 20.59368285, -0.80077896,  0.99535684,  7.88611887,
 -29.12280675, -0.85302467,  3.2464992 , -0.45852923,-40.06509799,
 -29.45306474, -2.12240195]

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([ 6.25192905,  0.9949624 ,  6.17224973,  0.9949624 , 43.50473896,
       -6.00512726,  6.17224973, -6.00512726,  7.21995142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005783709078323873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.59784638e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.59784638e-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([ 0.10173669, -0.09578667,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.95014802e-06, 4.93125090e-05,-4.90504032e+00,-7.20194324e-03,
 -1.21455080e-03, 6.50009026e-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,
  9.51323249e-02,-6.99099034e-02, 1.30416265e-01, 9.90085454e-01,
  7.84472129e-05,-6.80847179e-04,-1.40464672e-01]

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 , 1.32788387,-1.86307031,
  0.74452725,17.27087053,30.56862888, 0.0706945 ]

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([ 6.32725885, -1.98878374,  6.00657505, -1.98878374, 32.67502676,
        8.72377555,  6.00657505,  8.72377555,  9.21571073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005873952759525708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.45039116e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.45039116e-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([ 0.08611458, -0.05504772,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.90837686e-05, 7.40013289e-05,-4.90511123e+00,-7.19548451e-03,
 -1.20952585e-03, 1.16742963e-05]


--- 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,
  9.51277006e-02,-6.99077607e-02, 1.30416127e-01, 9.90067314e-01,
  6.52747352e-05,-7.18372220e-04,-1.40592292e-01]

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,
  1.30632329e+00,-1.81557094e+00, 5.16825215e-01, 1.73477887e+01,
  2.92180051e+01,-3.19850767e-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([ 6.37508143,  1.39553742, -6.22046128,  1.39553742, 41.76147221,
        7.93880556, -6.22046128,  7.93880556,  8.15612302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005931222930483371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35914092e-14,  9.35914092e-14,  1.00000000e+00, -8.75935188e-27,
        1.00000000e+00, -9.35914092e-14, -1.00000000e+00,  0.00000000e+00,
        9.35914092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612056, -0.05504647,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.52285031e-05, 4.80329315e-05,-4.90504394e+00,-7.19452478e-03,
 -1.20146780e-03, 1.09604161e-05]


--- 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,
  9.51282263e-02,-6.99127208e-02, 1.30417266e-01, 9.90049020e-01,
  9.44286066e-05,-7.05105618e-04,-1.40721114e-01]

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,
  1.28749619e+00,-1.77570070e+00, 3.19129137e-01, 1.73820838e+01,
  2.81188566e+01,-6.23186544e-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([ 6.38615324,  1.16642753, -6.27872598,  1.16642753, 52.9215924 ,
        8.64510053, -6.27872598,  8.64510053,  7.99219295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000594448198447145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66913277e-14, -1.86765311e-13,  1.00000000e+00,  8.72032032e-27,
        1.00000000e+00,  1.86765311e-13, -1.00000000e+00,  0.00000000e+00,
        4.66913277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612479, -0.05504477,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.45573276e-06, 2.67509845e-05,-4.90500852e+00,-7.19563708e-03,
 -1.19699788e-03, 1.05641802e-05]


--- 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,
  9.51338374e-02,-6.99246511e-02, 1.30418998e-01, 9.90030497e-01,
  1.65680512e-04,-6.42818763e-04,-1.40851603e-01]

qacc:
[  1.79339319,  0.73947059, -2.56912468,  4.1054197 ,  0.069923  ,
   1.86500141, -7.3734625 , 13.04869686,  0.24955527,  0.13497779,
  -1.74637596,  4.94284398, -0.06738476, -0.16282271,-10.68166017,
  35.20504627,  1.2713472 , -1.74254867,  0.14835152, 17.3898897 ,
  27.22810911, -0.85793473]

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([ 6.36755585,  0.86944691, -6.30791801,  0.86944691, 67.05946884,
        8.36542199, -6.30791801,  8.36542199,  7.5205972 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005922210792417143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37338321e-14, -9.37338321e-14,  1.00000000e+00,  8.78603129e-27,
        1.00000000e+00,  9.37338321e-14, -1.00000000e+00,  0.00000000e+00,
        9.37338321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612763, -0.05504271,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.13101031e-05, 9.49200233e-06,-4.90500202e+00,-7.19886383e-03,
 -1.19595139e-03, 1.04546509e-05]


--- 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,
  9.51444795e-02,-6.99434426e-02, 1.30420736e-01, 9.90011676e-01,
  2.78821182e-04,-5.32936013e-04,-1.40984112e-01]

qacc:
[ 9.93191333e-01, 7.30483437e-02,-3.96598455e-01, 1.49438901e+00,
 -3.18435312e+00, 3.72710646e+00,-1.76327780e+01, 3.86939490e+01,
 -5.99084931e+00,-8.86441415e-01, 4.51469864e+00,-9.88228367e+00,
  2.11519152e-01,-7.18868940e-01,-6.02365093e+00, 1.96693043e+01,
  1.25775670e+00,-1.71528932e+00, 1.44772892e-03, 1.73829740e+01,
  2.65104803e+01,-1.03868704e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005871681887269081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45404610e-14,  1.89080922e-13,  1.00000000e+00, -1.78757975e-26,
        1.00000000e+00, -1.89080922e-13, -1.00000000e+00,  0.00000000e+00,
        9.45404610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612937, -0.05504035,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.41229931e-05,-4.22205515e-06,-4.90502222e+00,-7.20423280e-03,
 -1.19819736e-03, 1.06069326e-05]


--- 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,
  9.51517431e-02,-6.99488079e-02, 1.30421638e-01, 9.89992689e-01,
  3.04499311e-04,-4.74930115e-04,-1.41117534e-01]

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, -0.84464022,  3.35652959, -0.20921087,-39.63778321,
 -31.8449308 , -0.43298194]

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([ 6.28048222,  2.13276228, -5.90726519,  2.13276228, 26.97857075,
        7.47284929, -5.90726519,  7.47284929,  8.97848385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005817923019647703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54140353e-14, -9.54140353e-14,  1.00000000e+00,  9.10383813e-27,
        1.00000000e+00,  9.54140353e-14, -1.00000000e+00,  0.00000000e+00,
        9.54140353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10169599, -0.09579816,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.00277394e-05,-1.47301342e-05,-4.90506749e+00,-7.21176186e-03,
 -1.20363220e-03, 1.10020388e-05]


--- 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,
  9.51556547e-02,-6.99410411e-02, 1.30420936e-01, 9.89973348e-01,
  2.43774455e-04,-4.66040296e-04,-1.41253294e-01]

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, -0.83798503,  3.28303853, -0.40078426,-39.30409309,
 -30.40920737, -1.15447039]

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([ 6.29356724, -0.42698293,  6.27906635, -0.42698293, 33.40710872,
        1.84374852,  6.27906635,  1.84374852,  6.41894403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005833598566722525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90315294e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90315294e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10168877, -0.09580002,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37615839e-05,-8.64721701e-06,-4.90500689e+00,-7.21097075e-03,
 -1.21233964e-03, 7.35847098e-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,
  9.51562395e-02,-6.99203882e-02, 1.30417967e-01, 9.89953483e-01,
  9.75731608e-05,-5.04046365e-04,-1.41392495e-01]

qacc:
[-1.63511372e+00,-1.47559377e+00, 3.31100218e+00, 1.62349317e+00,
 -3.84644876e+00, 1.45348770e-01,-6.95264492e-01, 1.06794617e+00,
  2.65019229e+00, 2.00957858e-01, 1.33201977e+00,-7.43484444e+00,
 -2.38205689e-01, 2.92952537e-02, 9.47702666e-01,-3.60875409e+00,
 -8.31713764e-01, 3.22152638e+00,-5.66639010e-01,-3.89983371e+01,
 -2.92502956e+01,-1.71445965e+00]

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([ 6.2757188 , -0.11946042,  6.27458172, -0.11946042, 41.95724435,
        0.67933292,  6.27458172,  0.67933292,  6.28865248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005812216039897122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55077218e-14, -9.55077218e-14,  1.00000000e+00,  9.12172491e-27,
        1.00000000e+00,  9.55077218e-14, -1.00000000e+00,  0.00000000e+00,
        9.55077218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10168342, -0.09580299,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.77248969e-05, 9.07062847e-06,-4.90501073e+00,-7.20539851e-03,
 -1.21735834e-03, 6.85024312e-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,
  9.51620285e-02,-6.99070705e-02, 1.30417328e-01, 9.89933651e-01,
 -6.16047793e-06,-4.86390312e-04,-1.41531374e-01]

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,  1.30106411, -1.83381232,  0.58226107, 17.08547864,
  30.55378352,  0.14834964]

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([ 6.32356338, -2.05077168,  5.98178814, -2.05077168, 30.29328485,
        8.21768088,  5.98178814,  8.21768088,  9.14087935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005869526915404377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72875856e-14, -1.89150342e-13,  1.00000000e+00,  8.94446299e-27,
        1.00000000e+00,  1.89150342e-13, -1.00000000e+00,  0.00000000e+00,
        4.72875856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614789, -0.05503271,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.61288801e-05, 3.85190523e-05,-4.90507516e+00,-7.19501651e-03,
 -1.21897075e-03, 9.26278204e-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,
  9.51729586e-02,-6.99009154e-02, 1.30418198e-01, 9.89913750e-01,
 -6.76454794e-05,-4.15767289e-04,-1.41670711e-01]

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, 1.28526063,-1.7906503 ,
  0.37740873,17.1633181 ,29.20663223,-0.24198117]

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([ 6.34910984,  1.01470327, -6.26750134,  1.01470327, 41.71223199,
        5.72526018, -6.26750134,  5.72526018,  7.27602472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005900121089480875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.7042383e-14, -9.4084766e-14,  1.0000000e+00,  4.4259716e-27,
        1.0000000e+00,  9.4084766e-14, -1.0000000e+00,  0.0000000e+00,
        4.7042383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615389, -0.0550312 ,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.82894794e-05, 8.05420843e-06,-4.90503261e+00,-7.19039990e-03,
 -1.21689219e-03, 6.92342159e-06]


--- 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,
  9.51889750e-02,-6.99017783e-02, 1.30419868e-01, 9.89893689e-01,
 -8.71101533e-05,-2.94345735e-04,-1.41811109e-01]

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,
  1.27159933e+00,-1.75449046e+00, 1.99902484e-01, 1.71996923e+01,
  2.81196092e+01,-5.43294061e-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([ 6.34262665,  0.79181767, -6.29300704,  0.79181767, 52.43717134,
        5.79984652, -6.29300704,  5.79984652,  7.07239239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005892357127671444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8841747e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8841747e-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([ 0.08615813, -0.0550293 ,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.76534588e-05,-1.78663740e-05,-4.90501995e+00,-7.18783388e-03,
 -1.21842494e-03, 4.93400959e-06]


--- 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,
  9.52100319e-02,-6.99095391e-02, 1.30421725e-01, 9.89873385e-01,
 -6.47748785e-05,-1.23862092e-04,-1.41953029e-01]

qacc:
[ -8.21601737, -1.13422659,  5.26114023,-11.07524089, -3.51895692,
   1.4986731 , -7.79103469, 18.01370385, -0.94940452, -0.88169939,
   3.30249295, -5.84790846, -0.44723243,  0.44061422, -1.69733474,
   4.44778361,  1.26009538, -1.72448277,  0.04679713, 17.20974365,
  27.24700575, -0.77446723]

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([ 6.31049353,  0.50998565, -6.2898524 ,  0.50998565, 65.80472199,
        4.82383381, -6.2898524 ,  4.82383381,  6.70161336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005853873205484417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.48280724e-14, -2.84484217e-13,  1.00000000e+00,  2.69770900e-26,
        1.00000000e+00,  2.84484217e-13, -1.00000000e+00,  0.00000000e+00,
        9.48280724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086161  , -0.05502708,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.11154457e-06,-3.98752968e-05,-4.90503462e+00,-7.18735949e-03,
 -1.22340157e-03, 3.25442394e-06]


--- 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,
  9.52360915e-02,-6.99240994e-02, 1.30423243e-01, 9.89852759e-01,
 -8.40434317e-07, 9.43024901e-05,-1.42096820e-01]

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,  1.25069752, -1.69986518, -0.08475129, 17.20460222,
  26.5516519 , -0.95030872]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005791198831144734
  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([ 0.08616276, -0.05502461,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.24206381e-05,-5.84243122e-05,-4.90507472e+00,-7.18900333e-03,
 -1.23169020e-03, 1.85300354e-06]


--- 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,
  9.52588717e-02,-6.99252078e-02, 1.30423882e-01, 9.89832025e-01,
 -2.38585979e-05, 2.60296064e-04,-1.42240971e-01]

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, -0.81984905,  3.36297293, -0.21962816,-39.32845562,
 -31.99864835, -0.18944547]

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([ 6.24973144,  2.09763247, -5.88719637,  2.09763247, 25.9663935 ,
        7.02512842, -5.88719637,  7.02512842,  8.75281382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000578107526214594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40055477e-14, -4.80110954e-14,  1.00000000e+00, -1.15253264e-27,
        1.00000000e+00,  4.80110954e-14, -1.00000000e+00,  0.00000000e+00,
       -2.40055477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10163937, -0.09582064,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.20154142e-05,-7.38303856e-05,-4.90513889e+00,-7.19278212e-03,
 -1.24318766e-03, 7.05727408e-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,
  9.52770658e-02,-6.99242327e-02, 1.30427295e-01, 9.89811374e-01,
 -5.20674931e-05, 3.90362859e-04,-1.42384299e-01]

qacc:
[ 4.21156080e+00, 9.56824183e-02, 1.71817619e+00,-8.46971665e+00,
 -6.54338717e-01,-5.09373031e-01,-5.04291619e-01, 7.10640641e+00,
  5.53801534e+00,-2.43544804e+00, 7.95832070e+00,-1.04878638e+01,
 -6.35536850e-01, 7.07217902e-01, 6.41391242e-01,-2.07694926e+00,
 -1.14655289e+00, 5.20863413e-01, 6.93197202e-01,-1.39523659e-02,
 -1.81499262e+01, 4.12063992e-01]

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([ 6.26228401,  0.19285086,  6.25931382,  0.19285086, 26.57822436,
       -0.62593867,  6.25931382, -0.62593867,  6.28156932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005796118341555828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57729776e-14, -1.34403391e-07,  1.00000000e+00,  1.28722130e-20,
        1.00000000e+00,  1.34403391e-07, -1.00000000e+00,  0.00000000e+00,
        9.57729776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337558, -0.0718847 ,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.65160587e-06,-6.09609045e-05,-4.90507013e+00,-7.18786200e-03,
 -1.25848489e-03,-5.54647973e-06]


--- 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,
  9.52902674e-02,-6.99329596e-02, 1.30429951e-01, 9.89791746e-01,
 -1.71301495e-06, 5.02101715e-04,-1.42520337e-01]

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, -1.24809051, -2.42548236, -0.18911883, 40.1848699 ,
  -3.47789577,  3.69514542]

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([ 6.25879058, -0.122241  ,  6.25759671, -0.122241  , 18.51760308,
        0.23947365,  6.25759671,  0.23947365,  6.26346865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000579193204273673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58422005e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.58422005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10510952, -0.04817609,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.42128129e-06,-4.46947349e-05,-4.90504153e+00,-7.18380460e-03,
 -1.26616189e-03,-7.08480789e-06]


--- 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,
  9.53002451e-02,-6.99285871e-02, 1.30430987e-01, 9.89771812e-01,
 -3.90038393e-05, 5.63936284e-04,-1.42658474e-01]

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, -0.80599009,  3.27482943, -0.40489914,-39.81858416,
 -30.94296611, -1.08259538]

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([ 6.26191294, -0.9915068 , -6.18291743, -0.9915068 , 34.34058904,
       -4.50276079, -6.18291743, -4.50276079,  6.98398597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005795673681186081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.18352442e-14,  4.78901628e-14,  1.00000000e+00, -3.44020154e-27,
        1.00000000e+00, -4.78901628e-14, -1.00000000e+00,  0.00000000e+00,
        7.18352442e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10161598, -0.09582655,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.09370702e-05,-2.80424191e-05,-4.90503588e+00,-7.18549870e-03,
 -1.26812234e-03,-6.21918968e-06]


--- 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,
  9.53056671e-02,-6.99222247e-02, 1.30434368e-01, 9.89751891e-01,
 -8.34420170e-05, 5.91400832e-04,-1.42796493e-01]

qacc:
[ -3.45509994, -0.28944504,  1.31906395, -3.00866461, -0.16415496,
   1.13231612, -5.78640669, 11.61760361,  3.18320619,  2.46282119,
  -8.73266059, 13.88668968, -0.22016692,  0.02158774, -1.12163733,
   1.94742283, -1.13892837,  0.49748523,  0.58633931, -1.08557025,
 -17.51906007,  0.05690866]

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([ 6.24519476,  0.49845262,  6.22527129,  0.49845262, 27.93058108,
       -1.73633199,  6.22527129, -1.73633199,  6.38422151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005775637826925142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61125903e-14, -8.04009883e-07,  1.00000000e+00,  7.72754725e-20,
        1.00000000e+00,  8.04009883e-07, -1.00000000e+00,  0.00000000e+00,
        9.61125903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337415, -0.07189081,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.56860408e-05,-1.40193425e-05,-4.90500985e+00,-7.18082813e-03,
 -1.27672098e-03,-8.87253583e-06]


--- 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,
  9.53060876e-02,-6.99256019e-02, 1.30436925e-01, 9.89733009e-01,
 -5.11210307e-05, 6.01158150e-04,-1.42927280e-01]

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, -1.25038671, -2.43488895, -0.20625427, 39.24843396,
  -3.28302141,  3.67513293]

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([ 6.23438354,  0.18955879,  6.23150107,  0.18955879, 20.71416062,
       -0.44046674,  6.23150107, -0.44046674,  6.24778229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005762678549532108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81643655e-14,  9.63287311e-14,  1.00000000e+00, -4.63961222e-27,
        1.00000000e+00, -9.63287311e-14, -1.00000000e+00,  0.00000000e+00,
        4.81643655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10512883, -0.04818169,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.02534837e-05, 9.79448628e-07,-4.90500560e+00,-7.17681315e-03,
 -1.27815117e-03,-8.92823571e-06]


--- 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,
  9.53020462e-02,-6.99270414e-02, 1.30441289e-01, 9.89714130e-01,
 -2.65943451e-05, 5.75416538e-04,-1.43058065e-01]

qacc:
[ 9.79178445e-01,-1.27656950e+00, 5.15088136e+00,-9.40772586e+00,
 -1.93849118e+00,-1.13145722e+00, 4.74445982e+00,-8.14369707e+00,
  9.08688386e+00, 2.93445661e+00,-1.18082349e+01, 1.94700645e+01,
 -6.85635117e-01, 7.39170197e-01,-1.54033387e+00, 3.88786198e+00,
 -1.11546368e+00, 4.84418179e-01, 4.51886008e-01,-1.32025594e+00,
 -1.81242416e+01,-2.32618798e-03]

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([ 6.20068237, -1.14488698, -6.09407053, -1.14488698, 35.08755211,
       -5.42694754, -6.09407053, -5.42694754,  7.22023762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005722266091434208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70090351e-14,  2.94675033e-07,  1.00000000e+00, -2.85861406e-20,
        1.00000000e+00, -2.94675033e-07, -1.00000000e+00, -6.01853108e-36,
        9.70090351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337431, -0.07189329,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.25029804e-05, 1.16149303e-05,-4.90500271e+00,-7.17851235e-03,
 -1.27407256e-03,-8.65726397e-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,
  9.52948722e-02,-6.99158357e-02, 1.30442864e-01, 9.89694814e-01,
 -8.83851992e-05, 5.02029993e-04,-1.43191884e-01]

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 , -0.78312945,  3.16129159, -0.69733475,-39.3059814 ,
 -29.75147606, -1.55798737]

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([ 6.16914432, -0.60383237, -6.13952182, -0.60383237, 16.75854406,
       -1.04148539, -6.13952182, -1.04148539,  6.27157617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005684422814816043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.88274298e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.88274298e-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([ 0.10159026, -0.09583421,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.55965857e-06, 2.52839763e-05,-4.90500656e+00,-7.17921174e-03,
 -1.27289872e-03,-8.54818896e-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,
  9.52826465e-02,-6.99144310e-02, 1.30443759e-01, 9.89676550e-01,
 -7.39482174e-05, 4.11316004e-04,-1.43318355e-01]

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, -1.26295227, -2.45024666, -0.16994352, 38.9599236 ,
  -3.11742592,  3.73018411]

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([ 6.1555897 ,  0.58143774,  6.12806778,  0.58143774, 28.10726887,
       -2.0827992 ,  6.12806778, -2.0827992 ,  6.35320795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005668149822236623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.79352222e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.79352222e-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([ 0.10514884, -0.04818263,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.89204158e-05, 4.39726695e-05,-4.90503610e+00,-7.17433159e-03,
 -1.27276346e-03,-6.37399488e-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,
  9.52654739e-02,-6.99226782e-02, 1.30443374e-01, 9.89659185e-01,
  1.54589604e-05, 3.01836824e-04,-1.43438509e-01]

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, -1.23672734, -2.41297158, -0.31999527, 38.44155501,
  -3.91385027,  3.20469577]

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([  6.13247289,  -2.61661311,  -5.5462203 ,  -2.61661311,
        40.97341113, -16.43736653,  -5.5462203 , -16.43736653,
        13.88734495,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005640383847736463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96834658e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96834658e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10515516, -0.0481827 ,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.66906819e-06, 4.89099147e-05,-4.90503514e+00,-7.17603315e-03,
 -1.26261029e-03,-6.61918880e-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,
  9.52450677e-02,-6.99179521e-02, 1.30441197e-01, 9.89641310e-01,
  1.56062100e-05, 1.43431281e-04,-1.43562028e-01]

qacc:
[  9.70832778,  0.62501488, -3.35927147,  7.51711205,  1.26570113,
  -1.41696666,  9.57255785,-26.34944791, -8.12543506, -0.8453977 ,
   2.85955294, -3.41362354, -0.21441401,  0.16637506, -7.08770716,
  24.41723815, -0.80836874,  3.24332699, -0.44785381,-40.65898001,
 -30.61181741, -1.71472114]

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([ 6.12349994, -0.76103214, -6.07602514, -0.76103214, 38.17932929,
       -4.01504536, -6.07602514, -4.01504536,  6.62639097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005629601529494044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.86058266e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.86058266e-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([ 0.10157218, -0.09583671,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.87194212e-05, 6.17374743e-05,-4.90507282e+00,-7.18242862e-03,
 -1.25255828e-03,-6.86271245e-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,
  9.52214378e-02,-6.99004580e-02, 1.30436617e-01, 9.89622775e-01,
 -7.20154961e-05,-6.16942491e-05,-1.43689786e-01]

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, -0.805962  ,  3.19199787, -0.60103217,-40.07597535,
 -29.41814565, -2.15102829]

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([  6.11515225,   2.0545333 ,   5.75968575,   2.0545333 ,
        37.42556395, -11.1687141 ,   5.75968575, -11.1687141 ,
        10.0991361 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005619568042129347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87818829e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.87818829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10156686, -0.09583707,  0.06198264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.69951901e-06, 7.30034551e-05,-4.90509346e+00,-7.18214536e-03,
 -1.24739833e-03,-2.94656078e-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,
  9.51925640e-02,-6.98930242e-02, 1.30432345e-01, 9.89605279e-01,
 -8.19247629e-05,-2.84463223e-04,-1.43809956e-01]

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, -1.31095802, -2.51507025,  0.07718603, 39.72086313,
  -3.14717584,  3.82608154]

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([ 6.13803126,  0.62855943,  6.10576292,  0.62855943, 29.96738564,
       -2.4531194 ,  6.10576292, -2.4531194 ,  6.39056831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005647061675102538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91504737e-14, -1.96601895e-13,  1.00000000e+00,  9.66307625e-27,
        1.00000000e+00,  1.96601895e-13, -1.00000000e+00,  0.00000000e+00,
        4.91504737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10517428, -0.04818544,  0.06198255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.53913184e-05, 9.74826779e-05,-4.90517565e+00,-7.17685845e-03,
 -1.23882614e-03, 3.97456659e-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,
  9.51689685e-02,-6.98930293e-02, 1.30430622e-01, 9.89587717e-01,
 -5.02784754e-05,-4.54573624e-04,-1.43930336e-01]

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, 1.31958936,-1.85972631,
  0.63706272,16.77535215,29.04365109,-0.11181016]

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([  6.2032725 ,  -5.09620714,  -3.53684358,  -5.09620714,
        18.39254516, -17.56341694,  -3.53684358, -17.56341694,
        31.51024718,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005725372919700433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84781970e-14, -2.90869182e-13,  1.00000000e+00,  1.41008135e-26,
        1.00000000e+00,  2.90869182e-13, -1.00000000e+00,  0.00000000e+00,
        4.84781970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862217 , -0.05497832,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.47692915e-05, 9.48440302e-05,-4.90517618e+00,-7.17851588e-03,
 -1.22055968e-03, 2.97988044e-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,
  9.51505584e-02,-6.99002925e-02, 1.30430606e-01, 9.89570007e-01,
  2.29946405e-05,-5.74149364e-04,-1.44051625e-01]

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,
  1.29631737e+00,-1.81454564e+00, 4.26882046e-01, 1.69597531e+01,
  2.79999120e+01,-4.69133866e-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([ 6.24198849,  2.55216539, -5.69639115,  2.55216539, 46.14831302,
       17.87930949, -5.69639115, 17.87930949, 14.25249088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005771794737381014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61765859e-14, -1.92353172e-13,  1.00000000e+00,  1.84998713e-26,
        1.00000000e+00,  1.92353172e-13, -1.00000000e+00,  0.00000000e+00,
        9.61765859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622607, -0.05497617,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.28500970e-06, 7.70767067e-05,-4.90510944e+00,-7.18338699e-03,
 -1.20858328e-03, 4.38097868e-06]


--- 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,
  9.51372523e-02,-6.99146636e-02, 1.30431568e-01, 9.89552078e-01,
  1.37903140e-04,-6.44926686e-04,-1.44174371e-01]

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 ,  1.27602369, -1.77694181,  0.24459712, 17.08540224,
  27.14346803, -0.74892667]

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([ 6.24761484,  2.26921736, -5.82094011,  2.26921736, 60.11100684,
       20.9979388 , -5.82094011, 20.9979388 , 14.43338662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005778538455871174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80321725e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.80321725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622905, -0.0549738 ,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.31410487e-05, 6.35715181e-05,-4.90507280e+00,-7.19030160e-03,
 -1.19999256e-03, 5.99055531e-06]


--- 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,
  9.51289804e-02,-6.99360185e-02, 1.30432879e-01, 9.89533863e-01,
  2.94421952e-04,-6.68319554e-04,-1.44298997e-01]

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 ,  1.2585632 , -1.74596535,  0.08725453, 17.17138717,
  26.44404069, -0.96773815]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005753303574690533
  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([ 0.08623095, -0.05497126,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.15857358e-05, 5.38048332e-05,-4.90506397e+00,-7.19930832e-03,
 -1.19466420e-03, 7.80746785e-06]


--- 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,
  9.51278119e-02,-6.99589772e-02, 1.30435487e-01, 9.89515873e-01,
  4.51736610e-04,-6.40443674e-04,-1.44422028e-01]

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,  1.77581747, -0.40096734,  0.32416354, -3.30475596,
  25.42381206,  0.79799726]

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([ 6.19410298, -1.37070322, -6.04053676, -1.37070322, 35.42449967,
       -6.63288718, -6.04053676, -6.63288718,  7.69922085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005714373445163817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00178743e-13, -9.71430232e-14,  1.00000000e+00,  9.73166593e-27,
        1.00000000e+00,  9.71430232e-14, -1.00000000e+00,  0.00000000e+00,
        1.00178743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264169, -0.06585716,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.31026384e-05, 4.74001587e-05,-4.90508118e+00,-7.21044134e-03,
 -1.19249919e-03, 9.82952512e-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,
  9.51233443e-02,-6.99685689e-02, 1.30437097e-01, 9.89497644e-01,
  5.21428374e-04,-6.63316637e-04,-1.44546536e-01]

qacc:
[ 6.86889726e+00,-2.02931466e+00, 7.88864593e+00,-1.29727319e+01,
  6.43191140e+00,-2.95577092e-02, 7.51923412e-01,-2.96063644e+00,
  3.99594828e+00, 8.06234255e-01,-5.46796414e+00, 1.30147133e+01,
 -3.38879989e-01, 1.71116527e-01,-6.68298727e+00, 2.17625873e+01,
 -8.24746686e-01, 3.34177695e+00,-2.49680547e-01,-3.96879163e+01,
 -3.14361420e+01,-7.08845952e-01]

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([ 6.21208953,  3.52876277, -5.11252283,  3.52876277, 22.33600907,
       11.12904311, -5.11252283, 11.12904311, 13.89357171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005735947677633219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67776457e-14, -9.67776457e-14,  1.00000000e+00,  9.36591271e-27,
        1.00000000e+00,  9.67776457e-14, -1.00000000e+00,  0.00000000e+00,
        9.67776457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10151825, -0.09584054,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.14452372e-05, 2.83398374e-05,-4.90507791e+00,-7.22112017e-03,
 -1.19604192e-03, 1.14304811e-05]


--- 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,
  9.51155982e-02,-6.99650745e-02, 1.30436973e-01, 9.89479004e-01,
  5.04606240e-04,-7.34389022e-04,-1.44673797e-01]

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 , -0.81965969,  3.27149716, -0.43321838,-39.31992555,
 -30.10010357, -1.35005073]

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([ 6.22380347, -0.14290207,  6.22216269, -0.14290207, 36.3293663 ,
        0.69142312,  6.22216269,  0.69142312,  6.23968312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005749994166216882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65412305e-14, -9.65412305e-14,  1.00000000e+00,  9.32020919e-27,
        1.00000000e+00,  9.65412305e-14, -1.00000000e+00,  0.00000000e+00,
        9.65412305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10151161, -0.09584215,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.27961523e-05, 2.80173958e-05,-4.90501919e+00,-7.22388434e-03,
 -1.19979762e-03, 9.65525370e-06]


--- 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,
  9.51050258e-02,-6.99489370e-02, 1.30434758e-01, 9.89459839e-01,
  4.02796731e-04,-8.47931132e-04,-1.44804507e-01]

qacc:
[-10.53052623,  1.34334691, -6.02947683, 13.44314936, -2.61938601,
  -0.32423065,  0.31050248,  1.53659105,  3.31267589,  1.11339002,
  -3.61424891,  3.19491658, -0.68306548,  0.84941219,  0.47084129,
  -2.45724165, -0.70654075,  3.16081469, -0.52303806,-38.97561811,
 -27.16023678, -1.7030747 ]

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([ 6.20596274, -0.80475528,  6.15356339, -0.80475528, 44.15762406,
        4.96327055,  6.15356339,  4.96327055,  6.85505302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005728599664803105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94720976e-07,  3.94721087e-07,  1.00000000e+00,  1.55804693e-13,
        1.00000000e+00, -3.94721087e-07, -1.00000000e+00,  0.00000000e+00,
       -3.94720976e-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([ 0.10059582, -0.09524627,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.14665273e-05, 4.00180403e-05,-4.90502349e+00,-7.22181988e-03,
 -1.19990685e-03, 1.10004556e-05]


--- 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,
  9.51035886e-02,-6.99271992e-02, 1.30432961e-01, 9.89441967e-01,
  2.45452384e-04,-9.00360113e-04,-1.44926615e-01]

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,  2.28378625,  1.40004121,  0.10490674,-31.89608711,
  26.2159267 ,  4.36106312]

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([ 6.23434334, -4.76320084,  4.02230714, -4.76320084, 17.43829182,
       13.26767324,  4.02230714, 13.26767324, 21.94587161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005762630363099486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63295366e-14, -9.63295366e-14,  1.00000000e+00,  9.27937962e-27,
        1.00000000e+00,  9.63295366e-14, -1.00000000e+00,  0.00000000e+00,
        9.63295366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07808995, -0.08045015,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.26889509e-05, 6.24917342e-05,-4.90508389e+00,-7.21502707e-03,
 -1.19685049e-03, 1.51228512e-05]


--- 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,
  9.51092449e-02,-6.99071754e-02, 1.30433424e-01, 9.89424409e-01,
  8.88686945e-05,-8.94538667e-04,-1.45046651e-01]

qacc:
[ 8.94358214e+00, 2.15883003e-02,-2.84348927e-01, 2.54857417e+00,
  8.11726067e-01,-7.99819526e-01, 3.95774450e+00,-9.60867090e+00,
 -3.82137573e+00,-2.06963162e+00, 3.72945510e+00, 6.80229697e+00,
 -4.20225047e-01, 3.83926131e-01, 3.31792130e+00,-1.25551743e+01,
  1.77338190e+00,-4.28495788e-01, 5.64528214e-01,-3.84381133e+00,
  2.88732243e+01, 1.04042226e+00]

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([  6.24559085,   4.2573541 ,   4.56972003,   4.2573541 ,
        34.65474204, -26.46722681,   4.56972003, -26.46722681,
        30.90363467,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005776112572916058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21825542e-06, -1.21825557e-06,  1.00000000e+00, -1.48414646e-12,
        1.00000000e+00,  1.21825557e-06, -1.00000000e+00,  0.00000000e+00,
       -1.21825542e-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([ 0.08268969, -0.06573352,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.13106829e-05, 4.17680979e-05,-4.90509078e+00,-7.20747010e-03,
 -1.19557188e-03, 1.58255020e-05]


--- 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,
  9.51199643e-02,-6.98943020e-02, 1.30435358e-01, 9.89406716e-01,
 -2.41113396e-05,-8.36122365e-04,-1.45167661e-01]

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, 1.26575304,-1.78759276,
  0.36807668,17.75647681,29.18149603,-0.51391123]

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([  6.26804216,   4.1837599 ,   4.66738745,   4.1837599 ,
        34.85801785, -25.62752612,   4.66738745, -25.62752612,
        29.2400832 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005803018124093673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43488656e-13, -9.56591037e-14,  1.00000000e+00,  1.37259962e-26,
        1.00000000e+00,  9.56591037e-14, -1.00000000e+00,  0.00000000e+00,
        1.43488656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626283, -0.05496064,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.34135563e-05, 1.79360322e-05,-4.90507619e+00,-7.19941154e-03,
 -1.19483686e-03, 1.35778567e-05]


--- 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,
  9.51356941e-02,-6.98884427e-02, 1.30438073e-01, 9.89388818e-01,
 -9.39769419e-05,-7.27271447e-04,-1.45290152e-01]

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,  1.25263087, -1.75350942,  0.19521202, 17.66749538,
  28.07951666, -0.76460058]

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([ 6.26678617, -0.24878748, -6.26184587, -0.24878748, 55.03775142,
       -1.93770425, -6.26184587, -1.93770425,  6.3437725 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005801513162556199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91367837e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91367837e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626703, -0.05495969,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.72331869e-05,-8.88643777e-06,-4.90504521e+00,-7.19356920e-03,
 -1.19543489e-03, 1.08581663e-05]


--- 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,
  9.51563903e-02,-6.98894833e-02, 1.30440972e-01, 9.89370649e-01,
 -1.21158215e-04,-5.69716822e-04,-1.45414507e-01]

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 ,  1.24157068, -1.72500258,  0.04589153, 17.57692353,
  27.19424678, -0.95561201]

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([ 6.23992061, -0.50725893, -6.21926826, -0.50725893, 67.70031409,
       -5.01286198, -6.21926826, -5.01286198,  6.64878206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005769316041469991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92435813e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92435813e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626987, -0.05495825,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.80606676e-05,-3.18348278e-05,-4.90504234e+00,-7.18989333e-03,
 -1.19947697e-03, 8.50560091e-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,
  9.51820166e-02,-6.98973297e-02, 1.30443540e-01, 9.89352145e-01,
 -1.06025302e-04,-3.64836366e-04,-1.45541018e-01]

qacc:
[-1.85862749, 1.37116659,-6.75239363,15.54285428,-8.59509352, 1.38965156,
 -6.60310553,13.42811623, 5.61176007,-0.85419137, 3.33474218,-6.85568704,
  0.72218169,-1.52719936,-6.65287354,21.75783622, 1.23253508,-1.70143314,
 -0.08255708,17.49064168,26.48797802,-1.09955847]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00057128804872561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.71684098e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.71684098e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627165, -0.05495642,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.85723592e-06,-5.13584854e-05,-4.90506547e+00,-7.18839401e-03,
 -1.20682849e-03, 6.47256963e-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,
  9.52125446e-02,-6.99119050e-02, 1.30445338e-01, 9.89333243e-01,
 -4.88892553e-05,-1.13716689e-04,-1.45669898e-01]

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, 1.22544511,-1.68222441,
 -0.19265654,17.41264067,25.93007966,-1.20631807]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005637698294675558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92321053e-14,  9.84642106e-14,  1.00000000e+00, -4.84760039e-27,
        1.00000000e+00, -9.84642106e-14, -1.00000000e+00,  0.00000000e+00,
        4.92321053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627259, -0.05495428,  0.06198258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.94144149e-05,-6.77773171e-05,-4.90511307e+00,-7.18907508e-03,
 -1.21738412e-03, 4.72317630e-06]


--- 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,
  9.52479535e-02,-6.99331477e-02, 1.30445989e-01, 9.89313876e-01,
  4.99960379e-05, 1.82796852e-04,-1.45801302e-01]

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,  1.22019834, -1.66686302, -0.28673524, 17.34554432,
  25.49566987, -1.2836235 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005548415769926762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00145953e-13, -1.00048651e-13,  1.00000000e+00,  3.00291976e-26,
        1.00000000e+00,  1.00048651e-13, -1.00000000e+00,  0.00000000e+00,
        3.00145953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627288, -0.05495192,  0.06198285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.77961036e-05,-8.13118325e-05,-4.90518404e+00,-7.19193652e-03,
 -1.23106219e-03, 3.23113894e-06]


--- 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,
  9.52801405e-02,-6.99407374e-02, 1.30446263e-01, 9.89294347e-01,
  6.07058579e-05, 4.27138752e-04,-1.45933232e-01]

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, -0.80546042,  3.41325619, -0.09424326,-39.81321161,
 -32.23511333, -0.27871955]

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([ 6.09602003,  1.97153803, -5.76840515,  1.97153803, 29.92238521,
        8.14342682, -5.76840515,  8.14342682,  8.87929812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000559656248505111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91879415e-14, -9.91879415e-14,  1.00000000e+00,  9.83824774e-27,
        1.00000000e+00,  9.91879415e-14, -1.00000000e+00,  0.00000000e+00,
        9.91879415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10144793, -0.09587621,  0.06198271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.93381171e-05,-9.21043859e-05,-4.90527766e+00,-7.19697608e-03,
 -1.24780019e-03, 1.97806715e-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,
  9.53091411e-02,-6.99349917e-02, 1.30445349e-01, 9.89274461e-01,
 -1.57269632e-05, 6.22300891e-04,-1.46067292e-01]

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, -0.79661601,  3.33385248, -0.29716221,-39.51591498,
 -30.6851224 , -1.09667677]

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([ 6.13877027, -0.63919586,  6.10540163, -0.63919586, 31.16927251,
        2.62053087,  6.10540163,  2.62053087,  6.41312282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005647949442472988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.8285496e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.8285496e-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([ 0.10143984, -0.09587694,  0.06198255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.08992879e-05,-8.68094450e-05,-4.90516359e+00,-7.19352371e-03,
 -1.26778894e-03,-7.45324858e-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,
  9.53349896e-02,-6.99161777e-02, 1.30442540e-01, 9.89254037e-01,
 -1.78382987e-04, 7.70705469e-04,-1.46204732e-01]

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, -0.78800691,  3.26706329, -0.47354492,-39.23328393,
 -29.4250317 , -1.7383918 ]

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([ 6.14687994, -0.3611681 ,  6.13626031, -0.3611681 , 39.12943985,
        1.94128798,  6.13626031,  1.94128798,  6.2611403 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005657690392303488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90581380e-14, -9.81162760e-14,  1.00000000e+00,  4.81340181e-27,
        1.00000000e+00,  9.81162760e-14, -1.00000000e+00,  0.00000000e+00,
        4.90581380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10143375, -0.09587891,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.24036009e-05,-7.08343677e-05,-4.90511807e+00,-7.18534172e-03,
 -1.28407270e-03,-1.37047779e-05]


--- 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,
  9.53554481e-02,-6.99076224e-02, 1.30441253e-01, 9.89234869e-01,
 -2.58803874e-04, 9.01638569e-04,-1.46333502e-01]

qacc:
[-7.28477262e+00,-1.44609626e+00, 5.93122990e+00,-1.14558050e+01,
 -3.03551199e-01, 5.67045690e-01,-1.75028473e+00, 1.89696391e+00,
 -4.41696546e+00, 9.57228142e-01,-4.97405967e+00, 1.05127396e+01,
 -2.22184560e-02,-4.04701937e-01,-4.71700138e-01, 1.02744773e+00,
 -1.34750650e+00,-2.56466045e+00, 3.80463558e-01, 4.19496986e+01,
 -2.63153919e+00, 4.41030104e+00]

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([ 6.2237133 ,  0.45888147,  6.20677332,  0.45888147, 31.23563291,
       -1.84919053,  6.20677332, -1.84919053,  6.36042835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005749886061953008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82715228e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.82715228e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1052817 , -0.04825296,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.24170948e-05,-4.37864844e-05,-4.90513649e+00,-7.17237593e-03,
 -1.29695862e-03,-1.70014765e-05]


--- 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,
  9.53706809e-02,-6.99091091e-02, 1.30440581e-01, 9.89216801e-01,
 -2.59299191e-04, 1.01366990e-03,-1.46454857e-01]

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,
 -1.30642337e+00,-2.51050957e+00, 1.53709231e-01, 4.09123607e+01,
 -3.50270533e+00, 3.78178983e+00]

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([  6.28014605,  -3.435149  ,  -5.25737441,  -3.435149  ,
        27.61616546, -13.94087619,  -5.25737441, -13.94087619,
        15.389063  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005817520261225395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77103205e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.77103205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10528743, -0.04825739,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.41761757e-05,-4.18156463e-05,-4.90506128e+00,-7.16592228e-03,
 -1.29831699e-03,-1.61227201e-05]


--- 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,
  9.53808262e-02,-6.99204528e-02, 1.30439735e-01, 9.89199698e-01,
 -1.81796498e-04, 1.10571833e-03,-1.46569782e-01]

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, -1.27187752, -2.46424208, -0.04336563, 40.03863476,
  -4.17344239,  3.28776957]

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([  6.29854203,  -3.66686568,  -5.12110612,  -3.66686568,
        32.68322776, -18.89222687,  -5.12110612, -18.89222687,
        19.82594349,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005839557754083735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.50605398e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.50605398e-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([ 0.10529246, -0.04825984,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.05534203e-06,-3.15862983e-05,-4.90502919e+00,-7.16450673e-03,
 -1.30009701e-03,-1.52643550e-05]


--- 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,
  9.53859996e-02,-6.99414971e-02, 1.30438034e-01, 9.89183436e-01,
 -2.78924023e-05, 1.17696830e-03,-1.46679050e-01]

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, -1.24298816, -2.42515334, -0.21391959, 39.30928316,
  -4.68882056,  2.90005061]

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([  6.28609254,  -3.93352875,  -4.90329594,  -3.93352875,
        37.94049654, -25.39383909,  -4.90329594, -25.39383909,
        26.65757272,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005824644294840503
  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([ 0.10529695, -0.0482607 ,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.64828053e-05,-1.37473821e-05,-4.90503766e+00,-7.16803214e-03,
 -1.30204192e-03,-1.44875031e-05]


--- 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,
  9.53837482e-02,-6.99548644e-02, 1.30437983e-01, 9.89166859e-01,
  8.23326286e-05, 1.17952920e-03,-1.46790758e-01]

qacc:
[ 1.91711876e-01, 1.98208688e-01, 2.60762439e-02,-1.91021238e+00,
 -6.52590602e-02,-1.76672294e+00, 7.96883016e+00,-1.59952870e+01,
  1.42181360e-01,-1.60346542e+00, 5.54154620e+00,-6.92576215e+00,
 -8.35296267e-01, 1.25300212e+00,-7.40589569e+00, 2.53456771e+01,
 -1.85616347e+00, 1.91925952e+00, 4.12706677e-01,-1.65642475e+01,
 -3.71762355e+01,-1.25652734e+00]

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([ 6.33519568, -0.05566408, -6.33495113, -0.05566408, 50.20422355,
       -0.38546931, -6.33495113, -0.38546931,  6.33858273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005883457979431322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71756163e-14, -1.88702465e-13,  1.00000000e+00,  8.90215509e-27,
        1.00000000e+00,  1.88702465e-13, -1.00000000e+00,  0.00000000e+00,
        4.71756163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1087546 , -0.08280031,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.09974769e-05, 1.12604566e-05,-4.90508473e+00,-7.17641427e-03,
 -1.30396158e-03,-1.38289354e-05]


--- 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,
  9.53741931e-02,-6.99607243e-02, 1.30438779e-01, 9.89149907e-01,
  1.49405720e-04, 1.11574095e-03,-1.46905392e-01]

qacc:
[ 6.28599052e+00, 8.93592604e-01,-4.22724710e+00, 9.17941562e+00,
  2.97182118e+00,-6.16809145e-01, 1.60889064e-02, 6.77596641e+00,
  1.67353184e-01,-1.61800573e-01, 1.25098378e+00,-2.42527930e+00,
 -9.75211018e-01, 1.32129529e+00, 3.20288555e+00,-9.26676201e+00,
 -1.82595899e+00, 1.87684270e+00, 2.11481100e-01,-1.64707729e+01,
 -3.59822349e+01,-1.49756900e+00]

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([ 6.35624527, -0.37262183,  6.34531377, -0.37262183, 57.43467356,
        2.99952658,  6.34531377,  2.99952658,  6.53238929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005908666040450594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69743516e-14,  1.87897406e-13,  1.00000000e+00, -8.82635884e-27,
        1.00000000e+00, -1.87897406e-13, -1.00000000e+00,  0.00000000e+00,
        4.69743516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10875079, -0.08280118,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.65863709e-05, 2.32376917e-05,-4.90503816e+00,-7.18134629e-03,
 -1.30671967e-03,-1.66467020e-05]


--- 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,
  9.53593775e-02,-6.99563700e-02, 1.30439168e-01, 9.89132291e-01,
  1.50225533e-04, 9.95469803e-04,-1.47024818e-01]

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, -1.31512547,  2.55352939, -0.10156972,-28.61566763,
 -32.80150039, -2.45153071]

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([  6.3484364 ,  -5.14756497,  -3.71553759,  -5.14756497,
        25.27291848, -26.21827897,  -3.71553759, -26.21827897,
        42.67165779,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005899314617874681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.10725586e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.10725586e-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([ 0.10524538, -0.08902388,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.60295401e-05, 3.92316659e-05,-4.90503253e+00,-7.18425163e-03,
 -1.30508349e-03,-1.72162458e-05]


--- 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,
  9.53414612e-02,-6.99392640e-02, 1.30437167e-01, 9.89113952e-01,
  6.25906060e-05, 8.29691791e-04,-1.47149233e-01]

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, -0.77515685,  3.18795482, -0.59750708,-40.39886414,
 -29.0086902 , -2.56080186]

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([  6.32892818,  -4.05232158,  -4.86148349,  -4.05232158,
        28.29069469, -18.3063751 ,  -4.86148349, -18.3063751 ,
        21.5883277 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005875951993028344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44717576e-14, -9.44717576e-14,  1.00000000e+00,  8.92491298e-27,
        1.00000000e+00,  9.44717576e-14, -1.00000000e+00,  0.00000000e+00,
        9.44717576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10138455, -0.09587293,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.41853075e-06, 5.59384356e-05,-4.90505620e+00,-7.18365538e-03,
 -1.30078543e-03,-1.50032618e-05]


--- 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,
  9.53204585e-02,-6.99095803e-02, 1.30432225e-01, 9.89094762e-01,
 -1.12083860e-04, 6.20076225e-04,-1.47279173e-01]

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, -0.77159582,  3.14441061, -0.73532293,-39.81836187,
 -28.08388905, -2.83004882]

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([  6.28169085,   3.05384095,   5.48941668,   3.05384095,
        42.00305293, -19.87230421,   5.48941668, -19.87230421,
        17.33693768,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005819371013879304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.53902941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.53902941e-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([ 0.1013813 , -0.09587494,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.48300146e-05, 7.89422164e-05,-4.90512568e+00,-7.17812157e-03,
 -1.29452740e-03,-9.34503711e-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,
  9.52940159e-02,-6.98901976e-02, 1.30428608e-01, 9.89076783e-01,
 -2.07694026e-04, 3.93863319e-04,-1.47400538e-01]

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, -1.35999911, -2.57525605,  0.33124699, 40.32067399,
  -2.38676488,  4.35324918]

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([ 6.26753331,  0.70746829,  6.22747641,  0.70746829, 32.87795777,
       -3.02305945,  6.22747641, -3.02305945,  6.61096596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005802408412503984
  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([ 0.10533514, -0.04826386,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.10842983e-05, 1.14841470e-04,-4.90525378e+00,-7.16757771e-03,
 -1.28515849e-03,-9.01748484e-07]


--- 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,
  9.52622815e-02,-6.98808757e-02, 1.30425417e-01, 9.89059834e-01,
 -2.25929656e-04, 1.49261011e-04,-1.47514650e-01]

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, -1.32291652, -2.51516997,  0.10653825, 39.6186617 ,
  -3.3926971 ,  3.67666393]

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([ 6.30891055, -1.86137335, -6.02807113, -1.86137335, 34.25415907,
       -8.62905226, -6.02807113, -8.62905226,  8.97342588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005851977195511088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74293981e-14,  9.48587962e-14,  1.00000000e+00, -4.49909561e-27,
        1.00000000e+00, -9.48587962e-14, -1.00000000e+00,  0.00000000e+00,
        4.74293981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10534194, -0.04826601,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.48052594e-05, 1.01425627e-04,-4.90520977e+00,-7.16421906e-03,
 -1.26538904e-03,-2.13349959e-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,
  9.52253766e-02,-6.98814104e-02, 1.30421873e-01, 9.89043749e-01,
 -1.68223588e-04,-1.15126455e-04,-1.47622561e-01]

qacc:
[  4.38108228,  0.12221005, -1.26881013,  4.39509582, -2.45684614,
   0.22571134, -0.35936138, -2.17597341,  4.44885739, -2.20021371,
   8.16375829,-10.93291552,  0.68424407, -1.46405567,  1.32045011,
  -6.51164214, -1.29265356, -2.46418375, -0.08813195, 39.01437716,
  -4.18386172,  3.1336661 ]

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([  6.31468391,  -2.11378421,  -5.95039067,  -2.11378421,
        42.28562921, -12.77812171,  -5.95039067, -12.77812171,
        10.85391392,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005858892139995187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73734197e-14, -9.47468393e-14,  1.00000000e+00, -4.48848178e-27,
        1.00000000e+00,  9.47468393e-14, -1.00000000e+00,  0.00000000e+00,
       -4.73734197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10534784, -0.04826665,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.65334871e-05, 9.73739429e-05,-4.90520981e+00,-7.16564043e-03,
 -1.24595224e-03,-3.23272411e-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,
  9.51858849e-02,-6.98924883e-02, 1.30417898e-01, 9.89027981e-01,
 -3.34316992e-05,-3.80314414e-04,-1.47727812e-01]

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, -0.64670691, -2.63579608, -0.10798701, 38.1798902 ,
   5.29373655,  1.33381155]

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([  6.29237885,  -5.11071412,  -3.67078095,  -5.11071412,
        24.89029771, -25.89330386,  -3.67078095, -25.89330386,
        42.34282027,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000583217497408986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90361748e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90361748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10052604, -0.04702794,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.34742136e-06, 1.01903769e-04,-4.90525144e+00,-7.17179716e-03,
 -1.22659052e-03,-4.29062169e-06]


--- 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,
  9.51516260e-02,-6.99109712e-02, 1.30416103e-01, 9.89011934e-01,
  1.43170944e-04,-5.96435341e-04,-1.47834428e-01]

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 ,  1.30824033, -1.85123015,  0.54504624, 17.05145685,
  27.35260976, -0.70238904]

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([  6.33030348,  -4.83177986,  -4.08982218,  -4.83177986,
        25.46530863, -22.6063942 ,  -4.08982218, -22.6063942 ,
        33.03785096,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005877599069665507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72226419e-14,  9.44452838e-14,  1.00000000e+00, -4.45995582e-27,
        1.00000000e+00, -9.44452838e-14, -1.00000000e+00,  0.00000000e+00,
        4.72226419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0863496 , -0.05490563,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.17207701e-06, 1.11644984e-04,-4.90529901e+00,-7.18286189e-03,
 -1.20814452e-03,-4.78051637e-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,
  9.51224939e-02,-6.99366938e-02, 1.30415675e-01, 9.88995544e-01,
  3.61657427e-04,-7.64966002e-04,-1.47942887e-01]

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,
  1.28166095e+00,-1.80993451e+00, 3.41838222e-01, 1.71935436e+01,
  2.66293734e+01,-9.52714132e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895068500456763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.41654049e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.41654049e-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([ 0.08635165, -0.05490304,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.63014229e-05, 1.08054503e-04,-4.90526215e+00,-7.19668343e-03,
 -1.19478080e-03,-9.01668696e-07]


--- 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,
  9.51030331e-02,-6.99568080e-02, 1.30417574e-01, 9.88980585e-01,
  5.25596785e-04,-8.74654630e-04,-1.48041757e-01]

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,  2.41783436,  1.40210752,  0.5817765 ,-31.322654  ,
  25.06460664,  4.85820329]

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([ 6.36327674, -1.50931847, -6.18168655, -1.50931847, 34.83965916,
       -6.95278377, -6.18168655, -6.95278377,  8.06086604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005917086436789482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12784409e-06, -1.12784429e-06,  1.00000000e+00, -1.27203252e-12,
        1.00000000e+00,  1.12784429e-06, -1.00000000e+00, -2.01948392e-28,
       -1.12784409e-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([ 0.07818948, -0.07984047,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.25686482e-05, 1.08092801e-04,-4.90525310e+00,-7.21262409e-03,
 -1.18457967e-03, 3.14247448e-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,
  9.50930632e-02,-6.99711832e-02, 1.30420796e-01, 9.88967005e-01,
  6.35279463e-04,-9.25753114e-04,-1.48131706e-01]

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,  2.37274265,  1.4347414 ,  0.33082649,-31.16275733,
  24.95907799,  4.52107042]

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([  6.4114672 ,   5.9230349 ,   2.4544998 ,   5.9230349 ,
        13.5694047 , -17.27305643,   2.4544998 , -17.27305643,
        48.09365271,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000597479871842152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64544111e-14,  9.29088223e-14,  1.00000000e+00, -4.31602463e-27,
        1.00000000e+00, -9.29088223e-14, -1.00000000e+00,  0.00000000e+00,
        4.64544111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07803128, -0.08032603,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.86931631e-05, 6.66983242e-05,-4.90513052e+00,-7.22484598e-03,
 -1.18321740e-03, 9.14987778e-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,
  9.50923744e-02,-6.99799194e-02, 1.30424527e-01, 9.88954719e-01,
  6.92445471e-04,-9.18674951e-04,-1.48213498e-01]

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 ,  2.32026593,  1.40973971,  0.12690358,-30.27416486,
  24.88089003,  4.1354538 ]

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([  6.42142094,   5.97375572,   2.35560811,   5.97375572,
        14.63694718, -20.83434274,   2.35560811, -20.83434274,
        59.2567263 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005986720781431948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.2723802e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.2723802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07802887, -0.08032327,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.25464929e-05, 3.33859789e-05,-4.90504956e+00,-7.23305457e-03,
 -1.18436857e-03, 1.27054292e-05]


--- 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,
  9.51007914e-02,-6.99831026e-02, 1.30428062e-01, 9.88943643e-01,
  6.98523051e-04,-8.53810535e-04,-1.48287744e-01]

qacc:
[ 1.02628138e+01, 1.80619741e+00,-7.04612187e+00, 1.05150668e+01,
  1.16191037e+00,-5.97849547e+00, 2.85448265e+01,-6.03720775e+01,
  1.70295321e+00, 8.48848979e-01,-3.85920520e+00, 7.30051061e+00,
 -6.49181107e-02,-3.07281273e-01,-5.26346872e-01, 1.31731403e+00,
  2.27644838e+00, 1.38826430e+00,-4.87324881e-02,-2.95413749e+01,
  2.47911658e+01, 3.82484278e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005961972212477074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31087051e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.31087051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07802599, -0.08032175,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.42117602e-05, 7.90361389e-06,-4.90501005e+00,-7.23738302e-03,
 -1.18802628e-03, 1.38440012e-05]


--- 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,
  9.51181694e-02,-6.99808056e-02, 1.30430799e-01, 9.88933693e-01,
  6.54678064e-04,-7.31511362e-04,-1.48354934e-01]

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,  2.24023981,  1.37003962, -0.1994882 ,-28.94111998,
  24.70136108,  3.57355491]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005908089850455295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69789328e-14, -1.87915731e-13,  1.00000000e+00,  8.82808051e-27,
        1.00000000e+00,  1.87915731e-13, -1.00000000e+00,  0.00000000e+00,
        4.69789328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07802275, -0.08032121,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.46918201e-06,-1.06462915e-05,-4.90500971e+00,-7.23794288e-03,
 -1.19427148e-03, 1.26414565e-05]


--- 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,
  9.51323286e-02,-6.99655866e-02, 1.30431315e-01, 9.88923018e-01,
  5.24950948e-04,-6.53513630e-04,-1.48426961e-01]

qacc:
[  3.13715471, -1.0335477 ,  4.74819892,-10.26523432, -0.63699733,
   3.99008154,-18.73287837, 40.03189121, -4.4846706 ,  0.40699696,
   0.31822424, -5.2613388 , -1.30383068,  1.96740404, -4.51004614,
  15.24476395, -0.80469223,  3.23051269, -0.55518343,-39.1812282 ,
 -28.27796147, -2.39998809]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005867401858407478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.46094244e-14, -9.46094244e-14,  1.00000000e+00,  8.95094318e-27,
        1.00000000e+00,  9.46094244e-14, -1.00000000e+00,  0.00000000e+00,
        9.46094244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10131765, -0.09588077,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.80681634e-06,-2.29558482e-05,-4.90504675e+00,-7.23482400e-03,
 -1.20316159e-03, 9.15913100e-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,
  9.51433067e-02,-6.99376547e-02, 1.30429030e-01, 9.88911506e-01,
  3.10214286e-04,-6.18428505e-04,-1.48504392e-01]

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, -0.7952749 ,  3.17821501, -0.70038779,-38.85080188,
 -27.52917797, -2.69504746]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005813247145004252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.54907814e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.54907814e-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([ 0.10131534, -0.09588472,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.64433409e-05,-6.93626101e-06,-4.90506753e+00,-7.22539834e-03,
 -1.20956155e-03, 7.60230002e-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,
  9.51561015e-02,-6.99036545e-02, 1.30428145e-01, 9.88899916e-01,
  4.91365409e-05,-5.76495913e-04,-1.48582039e-01]

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,
  4.54177617e-01, 1.51709050e+00, 3.50036376e-01,-2.34221091e+01,
 -5.52159790e-02,-9.88070832e-02]

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([ 6.21325106, -2.66583975,  5.61228894, -2.66583975, 42.13801327,
       17.06427809,  5.61228894, 17.06427809, 14.31879077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000573734063187399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.25430259e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.25430259e-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([ 0.09175456, -0.08042311,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.21967250e-05, 2.11917701e-05,-4.90514628e+00,-7.21109321e-03,
 -1.21295423e-03, 8.74800205e-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,
  9.51740470e-02,-6.98769443e-02, 1.30429372e-01, 9.88888045e-01,
 -1.67128521e-04,-4.82700617e-04,-1.48661269e-01]

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,  1.2876652 , -1.82252289,  0.52789006, 18.30424693,
  28.97257264, -0.81836484]

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([ 6.26200367, -0.95206013,  6.18920604, -0.95206013, 58.39021597,
        8.01866865,  6.18920604,  8.01866865,  7.49548251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005795782403826139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78892644e-14,  9.57785289e-14,  1.00000000e+00, -4.58676330e-27,
        1.00000000e+00, -9.57785289e-14, -1.00000000e+00,  0.00000000e+00,
        4.78892644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08637282, -0.05489259,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.83399236e-05, 3.35029675e-05,-4.90521671e+00,-7.19479887e-03,
 -1.21490270e-03, 7.94134297e-06]


--- 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,
  9.51970762e-02,-6.98573668e-02, 1.30431928e-01, 9.88875854e-01,
 -3.39298552e-04,-3.38984821e-04,-1.48742446e-01]

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,  1.27093775, -1.78317192,  0.33224555, 18.09140489,
  27.96058993, -0.99295089]

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([ 6.28372034, -0.57320118, -6.25752201, -0.57320118, 64.40896382,
       -5.32438533, -6.25752201, -5.32438533,  6.77144439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000582180239297167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43025684e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.43025684e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08637643, -0.05489238,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.08658252e-05, 5.11113950e-06,-4.90516859e+00,-7.18181975e-03,
 -1.21746678e-03, 3.33522355e-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,
  9.52251332e-02,-6.98447887e-02, 1.30435135e-01, 9.88863301e-01,
 -4.68000735e-04,-1.46914697e-04,-1.48825841e-01]

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,  1.25693585, -1.74984385,  0.16280199, 17.89554597,
  27.14128547, -1.12229815]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005811378746633511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55214823e-14, -9.55214823e-14,  1.00000000e+00, -9.12435359e-27,
        1.00000000e+00,  9.55214823e-14, -1.00000000e+00,  0.00000000e+00,
       -9.55214823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08637882, -0.05489151,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.01263728e-05,-1.96193419e-05,-4.90514892e+00,-7.17109285e-03,
 -1.22345438e-03,-8.32968724e-07]


--- 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,
  9.52506023e-02,-6.98427503e-02, 1.30438451e-01, 9.88851027e-01,
 -5.15262938e-04, 4.26126575e-05,-1.48907286e-01]

qacc:
[ 3.66544748e+00,-2.01955457e+00, 8.75030817e+00,-1.57596534e+01,
 -2.85860134e+00,-2.21300014e+00, 1.14724974e+01,-2.57582110e+01,
 -5.42144928e+00,-1.31574583e+00, 4.81894718e+00,-7.52427595e+00,
 -9.74777169e-01, 1.63808615e+00,-1.18760522e+01, 3.92344761e+01,
 -6.46962285e-01,-2.63490437e+00, 2.73729604e-02, 4.04559270e+01,
  4.80252547e+00, 9.78271426e-01]

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([  6.29852434,   6.02685692,   1.82986464,   6.02685692,
        10.33312815, -13.28840361,   1.82986464, -13.28840361,
        50.06531753,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005839536561476899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75304424e-14,  9.50608848e-14,  1.00000000e+00, -4.51828591e-27,
        1.00000000e+00, -9.50608848e-14, -1.00000000e+00,  0.00000000e+00,
        4.75304424e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10057957, -0.0470457 ,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.61557120e-05,-4.10756419e-05,-4.90515562e+00,-7.16260606e-03,
 -1.23274155e-03,-4.62777531e-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,
  9.52709782e-02,-6.98504292e-02, 1.30441386e-01, 9.88839463e-01,
 -4.84031869e-04, 2.08311891e-04,-1.48984025e-01]

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, -1.27329606, -2.42934571, -0.09535199, 40.58324995,
  -5.93834846,  2.37493455]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847185786601733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42404791e-13, -9.49365272e-14,  1.00000000e+00,  1.35194163e-26,
        1.00000000e+00,  9.49365272e-14, -1.00000000e+00,  0.00000000e+00,
        1.42404791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10540576, -0.04829799,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16414221e-05,-4.47549047e-05,-4.90510813e+00,-7.15808656e-03,
 -1.24052622e-03,-4.04437976e-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,
  9.52863632e-02,-6.98676846e-02, 1.30443292e-01, 9.88828548e-01,
 -3.76085461e-04, 3.50091092e-04,-1.49056492e-01]

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, -1.24773856, -2.39414112, -0.25709034, 39.71114112,
  -6.11295817,  2.16268271]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826280763602115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9055433e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9055433e-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([ 0.10540802, -0.04829898,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.71168333e-05,-3.29533665e-05,-4.90507975e+00,-7.15805561e-03,
 -1.24776441e-03,-2.79709245e-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,
  9.52968434e-02,-6.98943989e-02, 1.30443613e-01, 9.88818220e-01,
 -1.92876519e-04, 4.67910838e-04,-1.49125022e-01]

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,
 -1.22620406e+00,-2.36470417e+00,-3.96524153e-01, 3.89959488e+01,
 -6.23755424e+00, 1.99901516e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000577698716053815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80450706e-14, -9.60901413e-14,  1.00000000e+00,  4.61665762e-27,
        1.00000000e+00,  9.60901413e-14, -1.00000000e+00,  0.00000000e+00,
        4.80450706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10541034, -0.04829868,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.91916667e-05,-1.40804481e-05,-4.90509210e+00,-7.16295202e-03,
 -1.25469334e-03,-1.77662404e-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,
  9.53024908e-02,-6.99304751e-02, 1.30441868e-01, 9.88808406e-01,
  6.44203829e-05, 5.61765634e-04,-1.49189870e-01]

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,-1.20819222,-2.34047995,
 -0.51641964,38.41583799,-6.32478048, 1.87380528]

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: -0.0005705505236205111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86470075e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.86470075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10541271, -0.04829737,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.51725656e-05, 1.15595394e-05,-4.90514308e+00,-7.17268428e-03,
 -1.26123614e-03,-9.69580688e-07]


--- 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,
  9.53048080e-02,-6.99526523e-02, 1.30440868e-01, 9.88797807e-01,
  2.26419597e-04, 6.06432041e-04,-1.49259766e-01]

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, -0.83254235,  3.47476478,  0.18641082,-43.44493045,
 -31.42761421, -2.57973162]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005719688737940709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94105497e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94105497e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1012724 , -0.09590056,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.54862611e-05, 4.37868762e-05,-4.90523115e+00,-7.18717752e-03,
 -1.26733782e-03,-3.62152745e-07]


--- 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,
  9.53038532e-02,-6.99612777e-02, 1.30439645e-01, 9.88786381e-01,
  2.95526934e-04, 6.04209417e-04,-1.49335329e-01]

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, -0.8179871 ,  3.38792672, -0.05593863,-42.4245077 ,
 -30.11478618, -2.88591251]

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([  6.28181035,   2.43550133,   5.79046411,   2.43550133,
        38.45452974, -13.53202424,   5.79046411, -13.53202424,
        11.97345482,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005819514181626129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53879473e-14, -9.53879473e-14,  1.00000000e+00,  9.09886050e-27,
        1.00000000e+00,  9.53879473e-14, -1.00000000e+00,  0.00000000e+00,
        9.53879473e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10126741, -0.09589651,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.90323858e-05, 1.95207353e-05,-4.90508647e+00,-7.19581986e-03,
 -1.27380380e-03,-6.16551089e-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,
  9.52996778e-02,-6.99566486e-02, 1.30437351e-01, 9.88774074e-01,
  2.73792240e-04, 5.56976912e-04,-1.49417016e-01]

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, -0.80519199,  3.31363992, -0.26750447,-41.54891874,
 -29.03617952, -3.1146297 ]

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([  6.32048466,   2.78335798,   5.67463167,   2.78335798,
        45.30185165, -19.12002492,   5.67463167, -19.12002492,
        15.69869227,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005865839646789078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.46346211e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.46346211e-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([ 0.10126379, -0.09589477,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.51295746e-05, 1.08157509e-05,-4.90501521e+00,-7.19913793e-03,
 -1.27688637e-03,-8.57445905e-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,
  9.52923257e-02,-6.99390169e-02, 1.30433252e-01, 9.88760822e-01,
  1.62946229e-04, 4.66263922e-04,-1.49505163e-01]

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,
 -7.94136352e-01, 3.25065830e+00,-4.51432818e-01,-4.08051895e+01,
 -2.81541834e+01,-3.28309016e+00]

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([  6.32277   ,   3.16624317,   5.4728717 ,   3.16624317,
        51.86379336, -26.34703718,   5.4728717 , -26.34703718,
        21.56543072,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005868576721049512
  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([ 0.10126124, -0.09589492,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.30125714e-06, 1.67959324e-05,-4.90501136e+00,-7.19721902e-03,
 -1.27678490e-03,-7.86887387e-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,
  9.52818347e-02,-6.99085941e-02, 1.30426710e-01, 9.88746543e-01,
 -3.55647406e-05, 3.33308312e-04,-1.49600007e-01]

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, -0.78474628,  3.19775233, -0.6109075 ,-40.180449  ,
 -27.43741247, -3.40456391]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005836217688760387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.51149429e-14, -9.51149429e-14,  1.00000000e+00,  9.04685237e-27,
        1.00000000e+00,  9.51149429e-14, -1.00000000e+00,  0.00000000e+00,
        9.51149429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10125956, -0.09589657,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.90423350e-05, 3.66823532e-05,-4.90507025e+00,-7.19014117e-03,
 -1.27365115e-03,-4.26374809e-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,
  9.52666172e-02,-6.98761329e-02, 1.30423352e-01, 9.88732116e-01,
 -2.43231211e-04, 1.68526141e-04,-1.49695410e-01]

qacc:
[ -3.84696235,  2.75027087, -9.59439222, 11.12504188, -2.33686867,
  -0.95451155,  3.16527609, -4.33298126,  3.72656547,  1.3181336 ,
  -4.18722332,  3.31230944, -0.14012636, -0.17898814,  0.37402803,
  -1.81775699, -1.18161495,  0.50960015,  0.79620756, -2.145518  ,
 -16.41899827, -0.28968132]

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([ 6.24868053,  0.89038611,  6.18491883,  0.89038611, 42.78116737,
       -5.25924749,  6.18491883, -5.25924749,  7.00580622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005779815723751263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.95940993e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.95940993e-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([ 0.10335908, -0.07198315,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.06638010e-05, 6.97854618e-05,-4.90518838e+00,-7.17797223e-03,
 -1.26760023e-03, 2.07778872e-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,
  9.52459288e-02,-6.98539454e-02, 1.30421456e-01, 9.88718719e-01,
 -3.71011154e-04,-1.62692893e-05,-1.49783703e-01]

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, -1.36773712, -2.56841691,  0.3654783 , 40.99066108,
  -3.91550417,  3.59679061]

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([ 6.34087594,  0.51399487,  6.32000926,  0.51399487, 42.4919187 ,
       -2.94009865,  6.32000926, -2.94009865,  6.57998883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000589026054578834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42422679e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.42422679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10544402, -0.04830958,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.98395641e-05, 8.28048215e-05,-4.90523215e+00,-7.16617199e-03,
 -1.25587751e-03, 6.08877003e-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,
  9.52199121e-02,-6.98417898e-02, 1.30420100e-01, 9.88706218e-01,
 -4.20799257e-04,-2.22211396e-04,-1.49865903e-01]

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,-1.33206826,-2.50796701,
  0.13519675,40.13992605,-4.61422693, 3.07399914]

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([  6.38453375,  -2.684344  ,  -5.79280316,  -2.684344  ,
        39.62461451, -15.40321825,  -5.79280316, -15.40321825,
        13.5222761 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005942542540534335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86826265e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86826265e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10544876, -0.04831192,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.79729796e-05, 6.67033154e-05,-4.90517057e+00,-7.16033059e-03,
 -1.23945176e-03, 5.09772295e-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,
  9.51912244e-02,-6.98403119e-02, 1.30419008e-01, 9.88694073e-01,
 -3.91603982e-04,-4.29705713e-04,-1.49945631e-01]

qacc:
[  3.46961512, -0.95521869,  2.00786981,  0.93704607,  2.34280704,
  -1.56270278,  7.19736114,-14.35063848,  0.51667381, -2.05848281,
   5.47345289, -3.47125845, -0.39463406,  0.38285463, -6.55522899,
  21.22155519, -0.6677471 , -2.66941613,  0.06579117, 39.16234046,
   5.15063756,  1.2399359 ]

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([  6.40297275,  -4.98648624,  -4.01659245,  -4.98648624,
        29.05326352, -28.11969714,  -4.01659245, -28.11969714,
        41.31278364,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005964625103848376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65336465e-14, -9.30672930e-14,  1.00000000e+00,  4.33076052e-27,
        1.00000000e+00,  9.30672930e-14, -1.00000000e+00,  0.00000000e+00,
        4.65336465e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10063251, -0.04705333,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.37704188e-05, 5.94189934e-05,-4.90515361e+00,-7.15938787e-03,
 -1.22311791e-03, 4.16709097e-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,
  9.51677171e-02,-6.98461653e-02, 1.30419952e-01, 9.88681671e-01,
 -3.19577131e-04,-5.88059962e-04,-1.50027018e-01]

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,  1.29510826, -1.83285614,  0.508915  , 17.48908622,
  27.50372018, -0.83861776]

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([  6.41145382,  -4.87733467,  -4.16153177,  -4.87733467,
        27.18530508, -24.34705065,  -4.16153177, -24.34705065,
        34.94631084,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005974782696004655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64545357e-14, -9.29090714e-14,  1.00000000e+00,  4.31604778e-27,
        1.00000000e+00,  9.29090714e-14, -1.00000000e+00,  0.00000000e+00,
        4.64545357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08642297, -0.05486537,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.20026683e-06, 5.77265224e-05,-4.90515032e+00,-7.16342179e-03,
 -1.20787410e-03, 3.24477951e-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,
  9.51492923e-02,-6.98591919e-02, 1.30422137e-01, 9.88668965e-01,
 -2.04940403e-04,-6.98786028e-04,-1.50110449e-01]

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,  1.27062259, -1.79328689,  0.31029278, 17.490396  ,
  26.74110993, -1.03832869]

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: -0.0005980590427935167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28188477e-14,  9.28188477e-14,  1.00000000e+00, -8.61533850e-27,
        1.00000000e+00, -9.28188477e-14, -1.00000000e+00,  0.00000000e+00,
        9.28188477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08642491, -0.0548634 ,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.94505622e-06, 5.06408833e-05,-4.90510479e+00,-7.17010601e-03,
 -1.19752408e-03, 5.07244360e-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,
  9.51358662e-02,-6.98792608e-02, 1.30424879e-01, 9.88655911e-01,
 -4.79042454e-05,-7.63128220e-04,-1.50196223e-01]

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 , 1.2496595 ,-1.76057499,
  0.13923724,17.47729341,26.1115652 ,-1.19463102]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005951826841237989
  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([ 0.08642596, -0.0548611 ,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.42585418e-05, 4.68755395e-05,-4.90508683e+00,-7.17896528e-03,
 -1.19038346e-03, 7.13985483e-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,
  9.51273677e-02,-6.99062652e-02, 1.30427591e-01, 9.88642460e-01,
  1.51344434e-04,-7.82104826e-04,-1.50284570e-01]

qacc:
[ 2.28356421e+00,-1.31414211e+00, 5.82814207e+00,-1.19742251e+01,
 -7.64944441e+00, 4.22086668e-01,-4.26946945e+00, 1.42128490e+01,
  3.59291333e+00, 1.34475981e+00,-3.96301620e+00, 2.39528112e+00,
 -9.69190463e-01, 1.37789541e+00,-7.75288994e-01, 2.67474356e+00,
  1.23190813e+00,-1.73386288e+00,-7.48073952e-03, 1.74589688e+01,
  2.55954685e+01,-1.31684200e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895668263523057
  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([ 0.08642629, -0.05485854,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.87318812e-05, 4.61517430e-05,-4.90509476e+00,-7.19001328e-03,
 -1.18636370e-03, 9.43510920e-06]


--- 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,
  9.51237375e-02,-6.99401191e-02, 1.30429771e-01, 9.88628561e-01,
  3.92650229e-04,-7.56542655e-04,-1.50375666e-01]

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, 1.21706422,-1.71239177,
 -0.13288167,17.44193901,25.17634838,-1.41223566]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005818227828373324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54090367e-14,  9.54090367e-14,  1.00000000e+00, -9.10288428e-27,
        1.00000000e+00, -9.54090367e-14, -1.00000000e+00,  0.00000000e+00,
        9.54090367e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08642608, -0.05485578,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.63588735e-05, 4.82767042e-05,-4.90512727e+00,-7.20325842e-03,
 -1.18539346e-03, 1.19492018e-05]


--- 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,
  9.51295071e-02,-6.99683279e-02, 1.30432613e-01, 9.88615975e-01,
  5.81621767e-04,-6.73958394e-04,-1.50458174e-01]

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,  2.34996983,  1.41129047,  0.16541827,-30.1539475 ,
  24.25411598,  4.35239621]

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([ 6.25052341, -1.88551074, -5.95935333, -1.88551074, 37.40296298,
       -9.85648211, -5.95935333, -9.85648211,  9.36906696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005782024433418076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.8003214e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.8003214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07797918, -0.08024742,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.71410410e-05, 5.31270661e-05,-4.90518339e+00,-7.21870588e-03,
 -1.18741566e-03, 1.46762556e-05]


--- 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,
  9.51320228e-02,-6.99829857e-02, 1.30434991e-01, 9.88602834e-01,
  6.80515481e-04,-6.39772137e-04,-1.50544228e-01]

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, -0.81347598,  3.38774492, -0.11600237,-40.88628465,
 -30.7012102 , -1.75005826]

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([ 6.28669756,  6.0095031 , -1.84619574,  6.0095031 , 11.4348748 ,
       16.75769607, -1.84619574, 16.75769607, 60.83423247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005825369096741639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90584151e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90584151e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10120968, -0.09590468,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.89541594e-05, 1.95259843e-05,-4.90512859e+00,-7.23020295e-03,
 -1.19737735e-03, 1.47965010e-05]


--- 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,
  9.51313258e-02,-6.99843984e-02, 1.30436089e-01, 9.88589040e-01,
  6.90866308e-04,-6.51832237e-04,-1.50634682e-01]

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, -0.80318546,  3.31127074, -0.31983823,-40.28699879,
 -29.52615621, -2.17976536]

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([ 6.31379698,  0.5165025 ,  6.29263518,  0.5165025 , 45.80485243,
       -3.24144469,  6.29263518, -3.24144469,  6.57985631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000585782985757663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47640211e-14, -9.47640211e-14,  1.00000000e+00,  8.98021970e-27,
        1.00000000e+00,  9.47640211e-14, -1.00000000e+00,  0.00000000e+00,
        9.47640211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1012048 , -0.09590493,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.87421772e-05, 8.08137081e-06,-4.90503227e+00,-7.23483147e-03,
 -1.20340000e-03, 1.06695770e-05]


--- 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,
  9.51274523e-02,-6.99728237e-02, 1.30435202e-01, 9.88574495e-01,
  6.13991897e-04,-7.08395287e-04,-1.50730185e-01]

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, -0.7941162 ,  3.24685811, -0.4963993 ,-39.76449955,
 -28.5691265 , -2.508382  ]

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([ 6.30695913,  0.95106324,  6.23483858,  0.95106324, 56.62635068,
       -7.67572778,  6.23483858, -7.67572778,  7.47781583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005849639848800464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89793398e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89793398e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10120127, -0.09590665,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.47756920e-06, 1.01218697e-05,-4.90500162e+00,-7.23444826e-03,
 -1.20599539e-03, 9.67346318e-06]


--- 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,
  9.51204337e-02,-6.99484767e-02, 1.30431720e-01, 9.88559096e-01,
  4.51007516e-04,-8.08054983e-04,-1.50831224e-01]

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, -0.78629172,  3.19306   , -0.64896816,-39.31677653,
 -27.79381146, -2.75765429]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005808873025066746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55626866e-14, -9.55626866e-14,  1.00000000e+00,  9.13222707e-27,
        1.00000000e+00,  9.55626866e-14, -1.00000000e+00,  0.00000000e+00,
        9.55626866e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10119882, -0.09590953,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.40191890e-05, 2.52506905e-05,-4.90503254e+00,-7.22908501e-03,
 -1.20537175e-03, 1.15971766e-05]


--- 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,
  9.51225715e-02,-6.99186304e-02, 1.30428554e-01, 9.88544906e-01,
  2.33734102e-04,-8.45155031e-04,-1.50924482e-01]

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,  2.28910796,  1.37484027,  0.079322  ,-31.54906196,
  26.82995822,  3.94569155]

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([ 6.26019942, -4.8340286 ,  3.97772099, -4.8340286 , 19.4585032 ,
       16.03958095,  3.97772099, 16.03958095, 25.75271614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005793620330039467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79071358e-14, -1.91628543e-13,  1.00000000e+00,  9.18037466e-27,
        1.00000000e+00,  1.91628543e-13, -1.00000000e+00,  0.00000000e+00,
        4.79071358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07797485, -0.08023288,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.86075980e-05, 5.30570317e-05,-4.90512189e+00,-7.21877426e-03,
 -1.20168630e-03, 1.62792379e-05]


--- 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,
  9.51318399e-02,-6.98905769e-02, 1.30427929e-01, 9.88530995e-01,
  1.80499582e-05,-8.23671232e-04,-1.51015871e-01]

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,  1.78266439, -0.44820612,  0.6352125 , -3.63457847,
  29.07664784,  0.93709525]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005805761669811856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54637664e-07, -7.54637840e-07,  1.00000000e+00, -5.69478137e-13,
        1.00000000e+00,  7.54637840e-07, -1.00000000e+00, -1.00974196e-28,
       -7.54637664e-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([ 0.08275221, -0.06557748,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.56602155e-05, 4.34469079e-05,-4.90515481e+00,-7.20713999e-03,
 -1.19968629e-03, 1.57907065e-05]


--- 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,
  9.51461770e-02,-6.98698175e-02, 1.30429306e-01, 9.88516869e-01,
 -1.52956243e-04,-7.50072977e-04,-1.51108612e-01]

qacc:
[ 9.18740949e+00, 6.04706069e-01,-1.25470143e+00, 4.67769367e-01,
  4.62200270e-01, 1.48840287e+00,-4.65482878e+00, 4.11685823e+00,
  2.78517132e+00, 2.43256597e-01,-2.97106067e+00, 1.09279171e+01,
 -1.11651714e-01,-2.37498433e-02,-9.56880309e-01, 2.48326798e+00,
  1.26715122e+00,-1.82353607e+00, 5.00374267e-01, 1.81471556e+01,
  2.91318167e+01,-7.03796740e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005860230078568729
  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([ 0.08645627, -0.05484693,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.05243399e-05, 2.42726981e-05,-4.90514572e+00,-7.19500235e-03,
 -1.19915865e-03, 1.23968159e-05]


--- 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,
  9.51655192e-02,-6.98561986e-02, 1.30431913e-01, 9.88502475e-01,
 -2.79947275e-04,-6.26425184e-04,-1.51203127e-01]

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,  1.25129859, -1.7851114 ,  0.30740337, 17.97272485,
  28.06297633, -0.90913063]

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([ 6.32983861, -0.48103273, -6.31153423, -0.48103273, 59.39381976,
       -4.04426418, -6.31153423, -4.04426418,  6.63807166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005877042339001437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41681346e-13, -3.77816922e-13,  1.00000000e+00,  5.35296101e-26,
        1.00000000e+00,  3.77816922e-13, -1.00000000e+00,  0.00000000e+00,
        1.41681346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08646017, -0.0548465 ,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.99054024e-05,-2.66540995e-06,-4.90510345e+00,-7.18512020e-03,
 -1.20060191e-03, 8.63927531e-06]


--- 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,
  9.51898134e-02,-6.98495905e-02, 1.30435081e-01, 9.88487761e-01,
 -3.63501850e-04,-4.54390076e-04,-1.51299730e-01]

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 ,  1.23797243, -1.75271037,  0.14049731, 17.80966736,
  27.19954694, -1.06344986]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005858496759757192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47532336e-14, -1.89506467e-13,  1.00000000e+00,  1.79563506e-26,
        1.00000000e+00,  1.89506467e-13, -1.00000000e+00,  0.00000000e+00,
        9.47532336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08646277, -0.05484544,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.61538510e-05,-2.58472029e-05,-4.90508967e+00,-7.17746394e-03,
 -1.20548572e-03, 5.29688874e-06]


--- 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,
  9.52190158e-02,-6.98498851e-02, 1.30438236e-01, 9.88472674e-01,
 -4.04117822e-04,-2.35296660e-04,-1.51398657e-01]

qacc:
[ 1.78081322e+00, 8.23352014e-01,-3.37341466e+00, 6.73057713e+00,
 -3.53853560e+00, 2.50032043e-01,-2.64062930e+00, 9.24389433e+00,
  1.18506613e+00,-2.44924081e+00, 1.21295565e+01,-2.64680622e+01,
 -5.76615518e-01, 7.91372114e-01,-1.49860493e+00, 3.39451120e+00,
  1.22707087e+00,-1.72566043e+00,-3.22434804e-03, 1.76615917e+01,
  2.65069184e+01,-1.17756778e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005811789221809444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.55147358e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.55147358e-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([ 0.08646435, -0.05484388,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.92766870e-05,-4.56855923e-05,-4.90510223e+00,-7.17202900e-03,
 -1.21367916e-03, 2.31012349e-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,
  9.52456251e-02,-6.98604685e-02, 1.30440686e-01, 9.88457871e-01,
 -3.64331274e-04,-1.87740455e-05,-1.51495558e-01]

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,-0.64829   ,-2.57219995,
 -0.17643294,39.93275032, 4.81545764, 1.01230033]

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([  6.24441348,   5.8746671 ,   2.11683399,   5.8746671 ,
        10.57166895, -12.00905951,   2.11683399, -12.00905951,
        39.57212232,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005774701381851405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61281763e-14, -1.92256353e-13,  1.00000000e+00,  1.84812525e-26,
        1.00000000e+00,  1.92256353e-13, -1.00000000e+00,  0.00000000e+00,
        9.61281763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10070603, -0.04706999,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.27382139e-06,-6.24784648e-05,-4.90513953e+00,-7.16880734e-03,
 -1.22507945e-03,-3.66617430e-07]


--- 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,
  9.52671736e-02,-6.98805671e-02, 1.30442111e-01, 9.88443777e-01,
 -2.46660280e-04, 1.74150419e-04,-1.51587626e-01]

qacc:
[-9.26433761e+00,-8.26794294e-01, 2.28073239e+00,-1.23288080e+00,
  3.70249695e+00,-1.11899398e+00, 4.62192883e+00,-8.09466221e+00,
  1.50326047e+00,-5.95421375e-01, 2.56412716e+00,-4.39685457e+00,
 -1.44872262e-01,-3.63666783e-02, 6.42535943e-01,-2.86712282e+00,
 -1.26517768e+00,-2.37882111e+00,-2.56196350e-01, 4.02804299e+01,
 -5.76418847e+00, 2.43739172e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005746711472241345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82981889e-14, -9.65963778e-14,  1.00000000e+00,  4.66543010e-27,
        1.00000000e+00,  9.65963778e-14, -1.00000000e+00,  0.00000000e+00,
        4.82981889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10552664, -0.04834695,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.80213380e-05,-5.46457777e-05,-4.90513644e+00,-7.16931767e-03,
 -1.23486484e-03, 7.50989458e-07]


--- 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,
  9.52837513e-02,-6.99100754e-02, 1.30441961e-01, 9.88430312e-01,
 -5.27877884e-05, 3.43327563e-04,-1.51675305e-01]

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, -1.24271732, -2.35239276, -0.39387287, 39.46004363,
  -5.96144001,  2.22082876]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005705109401738656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86503828e-14, -9.73007655e-14,  1.00000000e+00,  4.73371949e-27,
        1.00000000e+00,  9.73007655e-14, -1.00000000e+00,  0.00000000e+00,
        4.86503828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10552919, -0.04834774,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.73235705e-05,-3.10693510e-05,-4.90514712e+00,-7.17418421e-03,
 -1.24422167e-03, 2.11762866e-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,
  9.52954338e-02,-6.99489058e-02, 1.30439760e-01, 9.88417392e-01,
  2.15929731e-04, 4.88670479e-04,-1.51758933e-01]

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 , -1.22379875, -2.33055539, -0.51257426, 38.79639898,
  -6.1033655 ,  2.0557748 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005640725239401401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92056862e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.92056862e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10553172, -0.04834732,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.00087803e-05,-7.29020707e-07,-4.90519692e+00,-7.18394673e-03,
 -1.25328567e-03, 3.24911463e-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,
  9.53038578e-02,-6.99736545e-02, 1.30438757e-01, 9.88403857e-01,
  3.88758947e-04, 5.82995875e-04,-1.51846387e-01]

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  , -0.81462385,  3.52044333,  0.29949241,-43.51665107,
 -32.48951898, -1.95599012]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005801604478488237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91364825e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91364825e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10114256, -0.09592739,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.66341746e-05, 3.61818837e-05,-4.90528413e+00,-7.19851928e-03,
 -1.26197989e-03, 4.16121026e-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,
  9.53090804e-02,-6.99846986e-02, 1.30437913e-01, 9.88389630e-01,
  4.68172036e-04, 6.29029205e-04,-1.51938556e-01]

qacc:
[ 1.87527321e+00, 1.51750868e+00,-6.57504335e+00, 1.17806249e+01,
  2.34689503e+00,-4.28715061e+00, 1.83912328e+01,-3.32558893e+01,
  5.53785658e+00,-2.77103855e-01, 3.13460064e+00,-1.05024141e+01,
 -2.48290781e-01,-5.53242436e-02, 6.05678155e+00,-2.23822629e+01,
 -8.00336130e-01, 3.42613723e+00, 3.96118483e-02,-4.24984340e+01,
 -3.09591983e+01,-2.40052468e+00]

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([ 6.36285217,  1.75019443,  6.11741017,  1.75019443, 33.85048702,
       -7.8642275 ,  6.11741017, -7.8642275 ,  8.612812  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005916578004882406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.382307e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        9.382307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1011362 , -0.09592296,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.94431929e-05, 1.13215839e-05,-4.90511568e+00,-7.20705491e-03,
 -1.27247296e-03,-3.68991515e-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,
  9.53111529e-02,-6.99823610e-02, 1.30436319e-01, 9.88374634e-01,
  4.56285217e-04, 6.28994410e-04,-1.52036114e-01]

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, -0.78753809,  3.34543095, -0.18722395,-41.61830399,
 -29.70363554, -2.73898137]

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([  6.41056788,   2.07346082,   6.06598226,   2.07346082,
        41.10428049, -11.85892913,   6.06598226, -11.85892913,
        10.46416115,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005973721595008696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.29255747e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.29255747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1011315 , -0.09592097,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.61886827e-05, 1.76596171e-06,-4.90502335e+00,-7.21031691e-03,
 -1.27935100e-03,-7.98748165e-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,
  9.53101203e-02,-6.99669155e-02, 1.30433189e-01, 9.88358784e-01,
  3.54892959e-04, 5.84700483e-04,-1.52139563e-01]

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, -0.77628333,  3.2769678 , -0.38431725,-40.86591214,
 -28.67740777, -2.99478735]

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([  6.41888482,   2.44891099,   5.93337318,   2.44891099,
        49.01379036, -17.58040984,   5.93337318, -17.58040984,
        13.6749359 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005983683071223711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.27708747e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.27708747e-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([ 0.10112812, -0.09592097,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.61077809e-06, 6.74882153e-06,-4.90500043e+00,-7.20837591e-03,
 -1.28287284e-03,-9.05150646e-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,
  9.53060214e-02,-6.99385924e-02, 1.30427838e-01, 9.88341987e-01,
  1.65501296e-04, 4.97612679e-04,-1.52249277e-01]

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, -0.76655168,  3.21940409, -0.55505079,-40.2301729 ,
 -27.84278264, -3.18608437]

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([  6.39542882,   2.86797071,   5.71631471,   2.86797071,
        56.72935457, -25.25337253,   5.71631471, -25.25337253,
        19.06546827,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005955590299257935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.32084788e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.32084788e-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([ 0.10112577, -0.09592257,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.40289637e-05, 2.55610908e-05,-4.90504172e+00,-7.20129884e-03,
 -1.28323536e-03,-7.12828628e-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,
  9.52988895e-02,-6.98975835e-02, 1.30419676e-01, 9.88324136e-01,
 -1.10641012e-04, 3.68910951e-04,-1.52365525e-01]

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,
 -7.58279155e-01, 3.17146994e+00,-7.02695915e-01,-3.97000957e+01,
 -2.71685346e+01,-3.32691817e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000589722389937028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4130988e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4130988e-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([ 0.10112424, -0.09592543,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.28471552e-05, 5.75583015e-05,-4.90514330e+00,-7.18914617e-03,
 -1.28058816e-03,-2.40537972e-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,
  9.52859749e-02,-6.98672192e-02, 1.30414529e-01, 9.88307578e-01,
 -3.03882208e-04, 2.22024047e-04,-1.52472912e-01]

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, -1.44564652, -2.66118096,  0.75339   , 42.35042021,
  -2.67151733,  4.4910152 ]

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([ 6.34390413,  0.73221305,  6.30150646,  0.73221305, 39.18191304,
       -3.81566197,  6.30150646, -3.81566197,  6.78727073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005893886993397768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.41842816e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.41842816e-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([ 0.10556832, -0.0483644 ,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.16375144e-05, 1.02157588e-04,-4.90530221e+00,-7.17197062e-03,
 -1.27504445e-03, 4.97649533e-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,
  9.52674666e-02,-6.98471988e-02, 1.30411255e-01, 9.88292143e-01,
 -4.16585593e-04, 5.53503630e-05,-1.52572813e-01]

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, -1.39843712, -2.58595693,  0.46855124, 41.30587813,
  -3.63905653,  3.79132922]

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([ 6.44417982, -2.32658292, -6.00953121, -2.32658292, 29.79902497,
       -9.04180076, -6.00953121, -9.04180076,  9.94470232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006013983784139698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61517301e-14, -2.76910380e-13,  1.00000000e+00,  1.27798931e-26,
        1.00000000e+00,  2.76910380e-13, -1.00000000e+00,  0.00000000e+00,
        4.61517301e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10557404, -0.04836922,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.70765214e-05, 7.91487923e-05,-4.90519656e+00,-7.16187557e-03,
 -1.25893175e-03, 3.89188614e-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,
  9.52435219e-02,-6.98372641e-02, 1.30408863e-01, 9.88277681e-01,
 -4.50765373e-04,-1.32332862e-04,-1.52666319e-01]

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, -1.35910988, -2.52142844,  0.22059478, 40.40489988,
  -4.39285736,  3.23128558]

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([  6.4953908 ,  -2.57599134,  -5.96274855,  -2.57599134,
        36.68095958, -13.04059076,  -5.96274855, -13.04059076,
        12.12910964,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006075356892184386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56855064e-14, -9.13710128e-14,  1.00000000e+00,  4.17433099e-27,
        1.00000000e+00,  9.13710128e-14, -1.00000000e+00,  0.00000000e+00,
        4.56855064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10557911, -0.04837191,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.17621513e-05, 6.60216370e-05,-4.90513948e+00,-7.15679200e-03,
 -1.24326787e-03, 2.97373272e-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,
  9.52168258e-02,-6.98380591e-02, 1.30406971e-01, 9.88263628e-01,
 -4.05670005e-04,-3.21340984e-04,-1.52757110e-01]

qacc:
[ -4.2186852 ,  1.89170037, -7.38187035, 12.00495461,  0.20160048,
   2.21512788,-10.8593449 , 24.5829627 , -2.78488641, -0.37778866,
   2.71505057, -8.13257358, -0.39178617,  0.2776686 , -7.60127448,
  24.82013716, -0.6878427 , -2.68241607,  0.12483294, 39.2743353 ,
   5.39605467,  1.3679708 ]

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([  6.51125739,  -5.10382268,  -4.04320007,  -5.10382268,
        25.9111143 , -24.48887715,  -4.04320007, -24.48887715,
        37.42411963,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006094382239340834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.82171544e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.82171544e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10077147, -0.04708625,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.44575765e-05, 6.18035241e-05,-4.90512742e+00,-7.15663496e-03,
 -1.22776455e-03, 2.12175386e-06]


--- 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,
  9.51874419e-02,-6.98493660e-02, 1.30404790e-01, 9.88249867e-01,
 -2.82670245e-04,-5.12800116e-04,-1.52845862e-01]

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,-0.6719359 ,-2.62799696,
 -0.07219429,38.68263016, 4.7387361 , 1.01668278]

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([  6.50294475,  -2.0186246 ,  -6.18170244,  -2.0186246 ,
        59.13622403, -17.18730936,  -6.18170244, -17.18730936,
        12.11543188,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006084413984599468
  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([ 0.10077554, -0.04708559,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.40573373e-06, 6.24994151e-05,-4.90513150e+00,-7.16153169e-03,
 -1.21340366e-03, 1.36123255e-06]


--- 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,
  9.51631868e-02,-6.98680260e-02, 1.30404497e-01, 9.88235798e-01,
 -1.17095799e-04,-6.56320073e-04,-1.52936466e-01]

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,  1.28219061, -1.83824375,  0.47191847, 17.373044  ,
  26.94180691, -0.94277681]

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([  6.52042763,  -5.18291305,  -3.95643637,  -5.18291305,
        24.78317547, -23.92411382,  -3.95643637, -23.92411382,
        37.86090427,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006105380816609635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09216851e-14, -2.72765055e-13,  1.00000000e+00,  2.48002585e-26,
        1.00000000e+00,  2.72765055e-13, -1.00000000e+00,  0.00000000e+00,
        9.09216851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08652272, -0.05481285,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.57251582e-06, 7.27479551e-05,-4.90517550e+00,-7.17112773e-03,
 -1.19985447e-03, 1.03983153e-06]


--- 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,
  9.51439606e-02,-6.98938843e-02, 1.30405300e-01, 9.88221365e-01,
  9.09378665e-05,-7.53208436e-04,-1.53029273e-01]

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,  1.25722645, -1.79961454,  0.27404729, 17.4132799 ,
  26.28829653, -1.12799506]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006094501857779183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55419922e-14,  9.10839844e-14,  1.00000000e+00, -4.14814611e-27,
        1.00000000e+00, -9.10839844e-14, -1.00000000e+00,  0.00000000e+00,
        4.55419922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08652394, -0.0548103 ,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.95121048e-05, 7.14740543e-05,-4.90516070e+00,-7.18348350e-03,
 -1.19107272e-03, 4.12936942e-06]


--- 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,
  9.51296782e-02,-6.99268147e-02, 1.30406519e-01, 9.88206510e-01,
  3.41313712e-04,-8.04544247e-04,-1.53124557e-01]

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,
  1.23594719e+00,-1.76798713e+00, 1.04038437e-01, 1.74353741e+01,
  2.57475274e+01,-1.27351272e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006050690034630213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8348701e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8348701e-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([ 0.0865244 , -0.0548075 ,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.55931989e-05, 7.34240580e-05,-4.90517233e+00,-7.19801116e-03,
 -1.18542287e-03, 7.42077060e-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,
  9.51249699e-02,-6.99542844e-02, 1.30409391e-01, 9.88193033e-01,
  5.39396399e-04,-7.97620936e-04,-1.53210971e-01]

qacc:
[ -1.39225571,  0.92973328, -4.26831552,  8.82839806,  2.25017339,
   1.41489914, -8.0850721 , 20.50805979, -5.02917631, -0.42891999,
   2.26978795, -3.53309586, -0.07384407, -0.14991705,  3.9835753 ,
 -14.821303  ,  2.39352579,  1.36516059,  0.4130854 ,-30.29533901,
  24.78440767,  4.49905507]

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([ 6.44609768, -1.81063966, -6.18657897, -1.81063966, 38.47609801,
       -9.37429058, -6.18657897, -9.37429058,  9.18969191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006016281485578193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.55201224e-07, -7.55201404e-07,  1.00000000e+00, -5.70329025e-13,
        1.00000000e+00,  7.55201404e-07, -1.00000000e+00,  0.00000000e+00,
       -7.55201224e-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([ 0.07810064, -0.0796555 ,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.48209991e-05, 7.83837865e-05,-4.90520901e+00,-7.21472659e-03,
 -1.18283165e-03, 1.09120747e-05]


--- 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,
  9.51296824e-02,-6.99761658e-02, 1.30412998e-01, 9.88180882e-01,
  6.85169055e-04,-7.32529108e-04,-1.53289067e-01]

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,  2.355193  ,  1.39705057,  0.1837876 ,-30.29927275,
  24.73639715,  4.21621524]

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([  6.46298472,   5.73376972,   2.98229044,   5.73376972,
        19.38841179, -24.85050468,   2.98229044, -24.85050468,
        54.24071612,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006036515210488397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19589354e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.19589354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07793699, -0.08013913,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.96528618e-05, 4.12026329e-05,-4.90512306e+00,-7.22762624e-03,
 -1.18851134e-03, 1.35239424e-05]


--- 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,
  9.51312185e-02,-6.99845910e-02, 1.30415864e-01, 9.88168108e-01,
  7.41182339e-04,-7.14591856e-04,-1.53371214e-01]

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, -0.79411061,  3.36408664, -0.18510621,-40.73637744,
 -30.17980558, -2.00009234]

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([ 6.4850186 ,  6.11883113, -2.14834166,  6.11883113, 12.98349395,
       18.50872887, -2.14834166, 18.50872887, 59.200929  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006062922695736495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.15584018e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.15584018e-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([ 0.10106898, -0.09592371,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.20866158e-05, 1.10816022e-05,-4.90507631e+00,-7.23665113e-03,
 -1.19674723e-03, 1.37694966e-05]


--- 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,
  9.51296194e-02,-6.99798549e-02, 1.30417191e-01, 9.88154616e-01,
  7.08962537e-04,-7.41840941e-04,-1.53458143e-01]

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, -0.78378772,  3.29031303, -0.38476214,-40.13086138,
 -29.09408537, -2.36900655]

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([ 6.48745704,  0.7337245 ,  6.44583177,  0.7337245 , 50.19617527,
       -4.97533267,  6.44583177, -4.97533267,  7.05379566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006065845702692002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.15142817e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.15142817e-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([ 0.10106493, -0.09592504,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.48158316e-05, 5.16314061e-06,-4.90500980e+00,-7.23887650e-03,
 -1.20126649e-03, 1.09634807e-05]


--- 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,
  9.51249209e-02,-6.99622047e-02, 1.30416290e-01, 9.88140306e-01,
  5.89807522e-04,-8.12683641e-04,-1.53550404e-01]

qacc:
[-5.50798342e+00, 3.19843245e-02, 1.39634693e-01,-1.38913203e+00,
 -5.92927066e+00,-1.53596568e-01, 5.18794888e-01,-4.31465111e-01,
  3.69049194e+00, 2.23511552e+00,-9.94410666e+00, 1.86292821e+01,
 -8.09155695e-01, 1.04909572e+00, 6.36659937e+00,-2.17162377e+01,
 -7.74824150e-01, 3.22851070e+00,-5.56997278e-01,-3.96095072e+01,
 -2.82112679e+01,-2.65002808e+00]

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([  6.45847415,   1.2184692 ,   6.34249329,   1.2184692 ,
        61.77369583, -10.62671903,   6.34249329, -10.62671903,
         8.49999462,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006031110320963151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20413461e-14, -9.20413461e-14,  1.00000000e+00,  8.47160939e-27,
        1.00000000e+00,  9.20413461e-14, -1.00000000e+00,  0.00000000e+00,
        9.20413461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10106207, -0.09592775,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.02254129e-05, 1.26618840e-05,-4.90500733e+00,-7.23608965e-03,
 -1.20246476e-03, 1.11955946e-05]


--- 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,
  9.51293912e-02,-6.99391133e-02, 1.30415558e-01, 9.88127226e-01,
  4.17419942e-04,-8.21680211e-04,-1.53635072e-01]

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,  2.29216023,  1.36030703,  0.04213358,-31.04614809,
  26.47212536,  3.84923139]

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([ 6.42011328, -4.88093179,  4.17065455, -4.88093179, 20.36899506,
       16.32442576,  4.17065455, 16.32442576, 25.52464658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005985154480696864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27480676e-14, -9.27480676e-14,  1.00000000e+00,  8.60220404e-27,
        1.00000000e+00,  9.27480676e-14, -1.00000000e+00,  0.00000000e+00,
        9.27480676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07793162, -0.08012963,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.40365712e-05, 3.31237486e-05,-4.90506509e+00,-7.22832833e-03,
 -1.20052410e-03, 1.42735386e-05]


--- 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,
  9.51428884e-02,-6.99106331e-02, 1.30414340e-01, 9.88115279e-01,
  1.93360728e-04,-7.69965016e-04,-1.53712606e-01]

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,  2.25675306,  1.34721308, -0.12145885,-30.19010835,
  26.02814036,  3.62041319]

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([ 6.39163545,  5.69490544, -2.90190553,  5.69490544, 19.22616741,
       25.18739679, -2.90190553, 25.18739679, 55.82117124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005951047358293687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.86559266e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.86559266e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07793102, -0.0801277 ,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.92916895e-05, 2.27641589e-05,-4.90509392e+00,-7.21901360e-03,
 -1.20047328e-03, 1.34215546e-05]


--- 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,
  9.51614484e-02,-6.98894967e-02, 1.30415255e-01, 9.88103040e-01,
  1.47348599e-05,-6.66643922e-04,-1.53791865e-01]

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 ,  1.26569373, -1.83595681,  0.53318825, 18.47981809,
  28.98784922, -0.89670707]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005935694606836045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.35209018e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.35209018e-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([ 0.08654705, -0.05479634,  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:
[ 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,
  6.75506113e-05, 1.89476311e-05,-4.90516274e+00,-7.20583567e-03,
 -1.20321833e-03, 1.00903834e-05]


--- 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,
  9.51850042e-02,-6.98755475e-02, 1.30417502e-01, 9.88090464e-01,
 -1.19241912e-04,-5.13674704e-04,-1.53873187e-01]

qacc:
[-2.48547092e-02,-2.64578587e+00, 1.10591416e+01,-1.97193560e+01,
  3.40380862e+00,-4.02674339e-01, 7.60499841e-01, 4.25569157e-01,
  3.71591796e+00,-2.88404838e+00, 1.04900538e+01,-1.49575198e+01,
  1.82415396e-01,-4.91622444e-01, 4.96189436e+00,-1.92386358e+01,
  1.24894233e+00,-1.79679317e+00, 3.33277360e-01, 1.82405291e+01,
  2.79619377e+01,-1.06110797e+00]

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([ 6.39322447, -0.90616167, -6.32867997, -0.90616167, 63.02728285,
       -8.10905481, -6.32867997, -8.10905481,  7.55430619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005952950358632525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86499628e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86499628e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08655054, -0.05479616,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.82586173e-05,-6.73802897e-06,-4.90512733e+00,-7.19504638e-03,
 -1.20661935e-03, 6.00622481e-06]


--- 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,
  9.52134998e-02,-6.98686531e-02, 1.30420392e-01, 9.88077504e-01,
 -2.09246472e-04,-3.12634555e-04,-1.53956826e-01]

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,
  1.23495816e+00,-1.76371816e+00, 1.60435506e-01, 1.80252307e+01,
  2.71323260e+01,-1.18254451e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005933681478805936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.35526307e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.35526307e-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([ 0.08655281, -0.05479527,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.56999327e-05,-2.87561180e-05,-4.90512031e+00,-7.18653167e-03,
 -1.21343367e-03, 2.35098779e-06]


--- 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,
  9.52468898e-02,-6.98687030e-02, 1.30423328e-01, 9.88064115e-01,
 -2.55856081e-04,-6.47845683e-05,-1.54042966e-01]

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,
  1.22359549e+00,-1.73606231e+00, 1.16527539e-02, 1.78350040e+01,
  2.64665437e+01,-1.27013832e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005885320996529275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71606827e-14,  9.43213654e-14,  1.00000000e+00, -4.44825999e-27,
        1.00000000e+00, -9.43213654e-14, -1.00000000e+00,  0.00000000e+00,
        4.71606827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08655411, -0.05479382,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.99142663e-05,-4.74848262e-05,-4.90513958e+00,-7.18027598e-03,
 -1.22353834e-03,-9.39076181e-07]


--- 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,
  9.52750477e-02,-6.98784526e-02, 1.30426082e-01, 9.88051474e-01,
 -2.22748184e-04, 1.59013883e-04,-1.54124006e-01]

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, -1.30802441, -2.42492534, -0.04541638, 41.23575042,
  -5.74289761,  2.57158075]

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([ 6.31875503,  6.20879037,  1.17370664,  6.20879037,  7.79617462,
       -7.81540137,  1.17370664, -7.81540137, 47.66144402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005863768117216617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.46680532e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.46680532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10564545, -0.04839844,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.09248150e-05,-6.31964595e-05,-4.90518357e+00,-7.17626269e-03,
 -1.23683680e-03,-3.91257286e-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,
  9.52980856e-02,-6.98977612e-02, 1.30427978e-01, 9.88039514e-01,
 -1.11937674e-04, 3.58645164e-04,-1.54200447e-01]

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,
 -1.28000960e+00,-2.38976851e+00,-2.14691232e-01, 4.02491717e+01,
 -5.95185140e+00, 2.32747061e+00]

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([  6.30925535,  -5.96170817,  -2.06512439,  -5.96170817,
        12.54099043, -17.99009597,  -2.06512439, -17.99009597,
        58.24399722,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005852390176422917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.48521024e-14, -2.84556307e-13,  1.00000000e+00,  2.69907640e-26,
        1.00000000e+00,  2.84556307e-13, -1.00000000e+00,  0.00000000e+00,
        9.48521024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10564775, -0.04840034,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.25595997e-05,-4.88644519e-05,-4.90514707e+00,-7.17564156e-03,
 -1.24735716e-03,-2.25402639e-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,
  9.53160985e-02,-6.99265109e-02, 1.30428430e-01, 9.88028163e-01,
  7.49301636e-05, 5.34058141e-04,-1.54272676e-01]

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,-1.25624374,-2.36023667,
 -0.36084032,39.44033791,-6.10062833, 2.1404827 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005810323665595973
  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([ 0.10565011, -0.04840075,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.88188681e-05,-2.74484662e-05,-4.90515228e+00,-7.18001966e-03,
 -1.25763532e-03,-8.56027953e-07]


--- 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,
  9.53309779e-02,-6.99414885e-02, 1.30429098e-01, 9.88016089e-01,
  1.68193230e-04, 6.61120673e-04,-1.54349418e-01]

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,
 -7.83374729e-01, 3.44298265e+00, 5.38785798e-02,-4.25112671e+01,
 -3.11061074e+01,-2.30860125e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005852552576144504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.48494704e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.48494704e-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([ 0.10102133, -0.09595047,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.85661094e-05, 7.22326963e-07,-4.90519683e+00,-7.18929260e-03,
 -1.26758017e-03, 3.00048628e-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,
  9.53427773e-02,-6.99430231e-02, 1.30429071e-01, 9.88003218e-01,
  1.69946130e-04, 7.42129446e-04,-1.54431415e-01]

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, -0.77000439,  3.36077113, -0.17370679,-41.65076878,
 -29.8133759 , -2.68380783]

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([  6.3634844 ,   1.85031189,   6.08853674,   1.85031189,
        40.94297617, -10.50873918,   6.08853674, -10.50873918,
         9.55709985,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005917335116930184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38110655e-14, -9.38110655e-14,  1.00000000e+00,  8.80051601e-27,
        1.00000000e+00,  9.38110655e-14, -1.00000000e+00,  0.00000000e+00,
        9.38110655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10101639, -0.09594829,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.45942797e-05,-1.46874446e-05,-4.90507073e+00,-7.19288128e-03,
 -1.27895301e-03,-6.97460192e-06]


--- 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,
  9.53515442e-02,-6.99313938e-02, 1.30427558e-01, 9.87989471e-01,
  8.19698683e-05, 7.78957918e-04,-1.54519229e-01]

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, -0.75810882,  3.29097227, -0.37150931,-40.9127041 ,
 -28.75381014, -2.97122627]

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([  6.37756357,   2.22519625,   5.97677327,   2.22519625,
        49.07141494, -15.89523205,   5.97677327, -15.89523205,
        12.29547432,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005934195392084535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.35445289e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.35445289e-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([ 0.10101281, -0.09594811,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.22105808e-06,-1.56660085e-05,-4.90501561e+00,-7.19127283e-03,
 -1.28695489e-03,-1.09621369e-05]


--- 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,
  9.53573204e-02,-6.99068356e-02, 1.30423874e-01, 9.87974760e-01,
 -9.42370924e-05, 7.73129225e-04,-1.54613285e-01]

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, -0.74768125,  3.2322313 , -0.54286363,-40.28735483,
 -27.88896512, -3.19015128]

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([  6.35930883,   2.64800482,   5.78177129,   2.64800482,
        57.20359204, -23.28627337,   5.78177129, -23.28627337,
        17.02423502,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000591233475113237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38904064e-14, -9.38904064e-14,  1.00000000e+00,  8.81540841e-27,
        1.00000000e+00,  9.38904064e-14, -1.00000000e+00,  0.00000000e+00,
        9.38904064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1010103 , -0.09594954,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.66862656e-05,-2.84787462e-06,-4.90502603e+00,-7.18452786e-03,
 -1.29179369e-03,-1.19187967e-05]


--- 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,
  9.53575436e-02,-6.98925463e-02, 1.30421841e-01, 9.87961180e-01,
 -1.89840193e-04, 7.47037528e-04,-1.54700076e-01]

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, -1.38825271, -2.56722076,  0.41290516, 41.38099981,
  -3.77923404,  3.70649149]

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([ 6.3498028 ,  0.77320581,  6.30255094,  0.77320581, 39.74015538,
       -4.09637542,  6.30255094, -4.09637542,  6.8523519 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000590095094375534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70357674e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.70357674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10567021, -0.04841015,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.59516875e-05, 2.31785561e-05,-4.90509780e+00,-7.17270223e-03,
 -1.29362807e-03,-1.00412884e-05]


--- 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,
  9.53523709e-02,-6.98882860e-02, 1.30420515e-01, 9.87948599e-01,
 -2.06859178e-04, 6.99646977e-04,-1.54780595e-01]

qacc:
[ 5.05872543e+00,-2.03490422e-01, 2.01072175e+00,-6.66538444e+00,
 -6.67708343e-02,-1.57518527e+00, 9.16049754e+00,-2.23442021e+01,
 -8.07760464e+00,-4.75791794e-01, 1.21468280e+00,-1.33162371e-01,
 -2.52797183e-01, 2.77293658e-02, 1.66012615e+00,-5.78138475e+00,
 -1.34898112e+00,-2.50726277e+00, 1.76740998e-01, 4.04642472e+01,
 -4.44370502e+00, 3.20273452e+00]

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([  6.40053979,  -3.02734966,  -5.63933184,  -3.02734966,
        37.08053424, -16.46987148,  -5.63933184, -16.46987148,
        15.24202335,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005961711294282662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39669170e-13, -1.86225560e-13,  1.00000000e+00,  2.60099694e-26,
        1.00000000e+00,  1.86225560e-13, -1.00000000e+00,  0.00000000e+00,
        1.39669170e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10567476, -0.04841305,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.71335326e-05, 1.57359539e-05,-4.90503244e+00,-7.16708073e-03,
 -1.28712272e-03,-1.00877478e-05]


--- 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,
  9.53419332e-02,-6.98938508e-02, 1.30419077e-01, 9.87936898e-01,
 -1.46995376e-04, 6.30176209e-04,-1.54855630e-01]

qacc:
[ 3.30229217e+00,-9.74614828e-01, 2.94105195e+00,-1.23390565e+00,
  1.15329009e-01,-1.30192121e+00, 6.43067211e+00,-1.39664367e+01,
 -5.07113022e+00, 4.57149076e-01,-1.16647104e+00, 1.29376450e+00,
 -5.19655293e-01, 4.80134243e-01,-7.13224919e-01, 2.81682511e+00,
 -1.31623607e+00,-2.45626989e+00,-2.79946795e-02, 3.96850887e+01,
 -4.95795281e+00, 2.80165370e+00]

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([  6.41268075,  -3.34312683,  -5.47229178,  -3.34312683,
        44.40088768, -23.20771607,  -5.47229178, -23.20771607,
        20.59071464,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005976252197580495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28862260e-14,  9.28862260e-14,  1.00000000e+00, -8.62785098e-27,
        1.00000000e+00, -9.28862260e-14, -1.00000000e+00,  0.00000000e+00,
        9.28862260e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1056789 , -0.04841424,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.25736380e-06, 1.65116172e-05,-4.90501082e+00,-7.16643472e-03,
 -1.28075269e-03,-1.01409959e-05]


--- 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,
  9.53263389e-02,-6.99090688e-02, 1.30416820e-01, 9.87925961e-01,
 -1.16692090e-05, 5.38034081e-04,-1.54925805e-01]

qacc:
[ 5.07509205e+00,-5.59931669e-01, 1.80786957e+00,-5.45236291e-01,
  1.26592945e-01,-4.20034359e-01, 2.80165308e+00,-7.37439356e+00,
  2.26466613e-02, 1.68607807e+00,-7.23262385e+00, 1.41837518e+01,
 -2.63820766e-02,-2.05039290e-01,-5.56303284e+00, 1.85436287e+01,
 -1.28915767e+00,-2.41331199e+00,-2.04785078e-01, 3.90299459e+01,
 -5.35664823e+00, 2.48172320e+00]

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: -0.0005953441401023996
  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([ 0.10568275, -0.04841406,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.57574540e-06, 2.49223399e-05,-4.90503038e+00,-7.17067751e-03,
 -1.27432176e-03,-1.02532492e-05]


--- 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,
  9.53076519e-02,-6.99108325e-02, 1.30413966e-01, 9.87914106e-01,
  3.07289856e-05, 3.99875544e-04,-1.55001801e-01]

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 , -0.77317842,  3.3635962 , -0.14917257,-42.33685318,
 -29.9285921 , -2.9715714 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005925814839939508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36768237e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.36768237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10099414, -0.09594906,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.50264624e-05, 4.05587703e-05,-4.90508912e+00,-7.17973388e-03,
 -1.26768278e-03,-1.04585725e-05]


--- 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,
  9.52859091e-02,-6.98994184e-02, 1.30409708e-01, 9.87901263e-01,
 -1.77411876e-05, 2.17464715e-04,-1.55083999e-01]

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, -0.76394714,  3.29444618, -0.35119578,-41.45422381,
 -28.90101064, -3.15717343]

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([  6.3896905 ,   3.35309357,   5.43920107,   3.35309357,
        41.26933109, -21.50218332,   5.43920107, -21.50218332,
        19.6450991 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000594871812331671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33161567e-14, -1.86632313e-13,  1.00000000e+00,  1.74158102e-26,
        1.00000000e+00,  1.86632313e-13, -1.00000000e+00,  0.00000000e+00,
        9.33161567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10099083, -0.09594791,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.02275432e-07, 3.95154900e-05,-4.90507350e+00,-7.18258105e-03,
 -1.26223761e-03,-7.84159299e-06]


--- 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,
  9.52595413e-02,-6.98859457e-02, 1.30408254e-01, 9.87888297e-01,
 -7.56548329e-05, 1.50706527e-06,-1.55166704e-01]

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, -1.1562686 ,  0.51464302,  0.70119032, -2.06326737,
 -17.30272133, -0.26177046]

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([ 6.37463392,  1.08492623,  6.28163137,  1.08492623, 38.85754809,
       -5.6102569 ,  6.28163137, -5.6102569 ,  7.34360432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005930687009459428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.65528837e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.65528837e-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([ 0.10335426, -0.07205839,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.39867493e-05, 5.31074782e-05,-4.90512306e+00,-7.18018625e-03,
 -1.25363757e-03,-2.19943290e-06]


--- 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,
  9.52278435e-02,-6.98822772e-02, 1.30406585e-01, 9.87876192e-01,
 -5.70460976e-05,-2.35896990e-04,-1.55243587e-01]

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, -1.3324682 , -2.45106212, -0.05396965, 39.46169468,
  -4.65668484,  2.94196628]

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([ 6.38310707,  0.67010375,  6.3478356 ,  0.67010375, 33.24128861,
       -2.83526058,  6.3478356 , -2.83526058,  6.68240889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005940834009144358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67199985e-14, -9.34399971e-14,  1.00000000e+00, -4.36551652e-27,
        1.00000000e+00,  9.34399971e-14, -1.00000000e+00,  0.00000000e+00,
       -4.67199985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10570058, -0.04841604,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.52829867e-05, 6.29739684e-05,-4.90517032e+00,-7.17813654e-03,
 -1.24011178e-03, 1.36953358e-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,
  9.52012683e-02,-6.98860607e-02, 1.30407186e-01, 9.87863824e-01,
  5.10162020e-06,-4.23108545e-04,-1.55321880e-01]

qacc:
[ 2.69986887e+00,-1.27145165e+00, 3.49840717e+00,-1.47699049e+00,
 -2.60263433e+00, 1.86676164e+00,-8.11848279e+00, 1.48480633e+01,
 -4.26091186e+00,-2.45477737e+00, 9.61891872e+00,-1.54591244e+01,
  3.92867247e-01,-8.07209817e-01,-1.97013135e-02,-1.54559973e+00,
  1.28061961e+00,-1.86298340e+00, 5.67824806e-01, 1.76093564e+01,
  2.81715720e+01,-7.21061435e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005964819330919607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65321313e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.65321313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08660175, -0.05476438,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.89114636e-06, 6.22370601e-05,-4.90519177e+00,-7.18175455e-03,
 -1.22301860e-03, 3.71022382e-07]


--- 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,
  9.51797171e-02,-6.98971298e-02, 1.30409232e-01, 9.87851143e-01,
  1.10511686e-04,-5.61881913e-04,-1.55402033e-01]

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,  1.25602014, -1.82140325,  0.36108012, 17.60650674,
  27.28488993, -0.95176147]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005982772765386474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63924951e-14, -1.85569980e-13,  1.00000000e+00,  8.60905440e-27,
        1.00000000e+00,  1.85569980e-13, -1.00000000e+00,  0.00000000e+00,
        4.63924951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08660445, -0.05476275,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.31447265e-06, 5.44699600e-05,-4.90513323e+00,-7.18813509e-03,
 -1.21090711e-03, 2.28528464e-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,
  9.51631051e-02,-6.99153464e-02, 1.30412009e-01, 9.87838099e-01,
  2.58925348e-04,-6.53658504e-04,-1.55484392e-01]

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, 1.23480798,-1.78689065,
  0.18273768,17.58827857,26.55410941,-1.13264955]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005963707322462902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86163231e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86163231e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08660609, -0.05476072,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -8.43871910e-06, 5.03109059e-05,-4.90510379e+00,-7.19669387e-03,
 -1.20207652e-03, 4.44946223e-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,
  9.51535748e-02,-6.99353688e-02, 1.30416383e-01, 9.87825262e-01,
  4.09708338e-04,-6.92905150e-04,-1.55565434e-01]

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,  1.77040281, -0.45142683,  0.39921202, -2.91313309,
  26.12997569,  0.65935991]

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([ 6.36544609, -1.52440914, -6.18021688, -1.52440914, 46.27118478,
       -9.84312916, -6.18021688, -9.84312916,  8.79334731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005919684289739905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.60612519e-07, -5.60612366e-07,  1.00000000e+00, -3.14286311e-13,
        1.00000000e+00,  5.60612366e-07, -1.00000000e+00, -5.04870979e-29,
       -5.60612519e-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([ 0.08280929, -0.06545515,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.13590514e-05, 4.94147808e-05,-4.90510140e+00,-7.20744735e-03,
 -1.19642353e-03, 6.84891796e-06]


--- 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,
  9.51414324e-02,-6.99423730e-02, 1.30419596e-01, 9.87811846e-01,
  4.72553193e-04,-7.74893853e-04,-1.55650035e-01]

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, -0.65301441,  3.25454805, -0.29011795,-40.11027698,
 -27.95183851, -1.76426083]

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([ 6.3492057 ,  3.36825779, -5.38212342,  3.36825779, 29.84934712,
       14.70693407, -5.38212342, 14.70693407, 15.55314648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005900235895030045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81082363e-08,  6.81081422e-08,  1.00000000e+00,  4.63872545e-15,
        1.00000000e+00, -6.81081422e-08, -1.00000000e+00, -7.88860905e-31,
       -6.81082363e-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([ 0.10007804, -0.09534297,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.90441196e-05, 3.69997527e-05,-4.90507872e+00,-7.21788993e-03,
 -1.19574912e-03, 9.56991101e-06]


--- 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,
  9.51385836e-02,-6.99439121e-02, 1.30423121e-01, 9.87799725e-01,
  4.83095572e-04,-7.97016854e-04,-1.55726795e-01]

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,  2.32339927,  1.36625809,  0.07775406,-30.48882035,
  25.49993774,  3.98013442]

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([ 6.35765153, -4.5078598 ,  4.48318335, -4.5078598 , 22.40212823,
       16.13278912,  4.48318335, 16.13278912, 22.57923915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005910350076099857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.39219344e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.39219344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07789531, -0.08005276,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.25152135e-06, 3.21020330e-05,-4.90503877e+00,-7.22147229e-03,
 -1.19426187e-03, 1.00804615e-05]


--- 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,
  9.51448669e-02,-6.99400584e-02, 1.30426290e-01, 9.87788822e-01,
  4.42780627e-04,-7.59951189e-04,-1.55796246e-01]

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,  2.28302355,  1.34821128, -0.08880932,-29.72443727,
  25.27560104,  3.71032751]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005884713526306262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43311021e-14,  9.43311021e-14,  1.00000000e+00, -8.89835682e-27,
        1.00000000e+00, -9.43311021e-14, -1.00000000e+00,  0.00000000e+00,
        9.43311021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0778934 , -0.08005112,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -8.65685876e-07, 1.02365199e-05,-4.90500317e+00,-7.22324977e-03,
 -1.19543893e-03, 1.16563927e-05]


--- 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,
  9.51601484e-02,-6.99308730e-02, 1.30428531e-01, 9.87779056e-01,
  3.52781496e-04,-6.64274248e-04,-1.55858818e-01]

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,  2.24955124,  1.33291715, -0.23199838,-29.10208828,
  25.0794321 ,  3.4925311 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005831135654082858
  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([ 0.07789093, -0.08005046,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.32698980e-06,-4.80938268e-06,-4.90500744e+00,-7.22123112e-03,
 -1.19928964e-03, 1.08216190e-05]


--- 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,
  9.51727574e-02,-6.99093190e-02, 1.30428383e-01, 9.87768479e-01,
  1.79723623e-04,-6.07724426e-04,-1.55926360e-01]

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, -0.66810335,  3.09217475, -0.59715996,-37.97419808,
 -25.79833928, -2.48394616]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005755872719059115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83132821e-07, -3.83132483e-07,  1.00000000e+00,  1.46790629e-13,
        1.00000000e+00,  3.83132483e-07, -1.00000000e+00,  0.00000000e+00,
        3.83132821e-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([ 0.10026107, -0.09481173,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.23570878e-05,-1.37126974e-05,-4.90504959e+00,-7.21550920e-03,
 -1.20585024e-03, 7.65631564e-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,
  9.51903453e-02,-6.98950053e-02, 1.30429676e-01, 9.87757568e-01,
  5.16089785e-05,-5.01359452e-04,-1.55995939e-01]

qacc:
[  3.348119  ,  0.72522988, -1.26012436, -2.88445672, -3.50005399,
  -1.08744373,  5.25190507,-11.19389927,  0.47836295,  1.58100951,
  -6.18720495, 10.00657195,  0.44303726, -0.92734146, -7.26360407,
  24.63025174,  1.24470228, -1.81011194,  0.36001097, 18.31241599,
  28.10655127, -1.05012165]

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([ 6.2347189 , -1.76562588,  5.97948869, -1.76562588, 45.70779714,
       11.65562675,  5.97948869, 11.65562675,  9.67639715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005763080571395823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63220114e-14, -9.63220114e-14,  1.00000000e+00,  9.27792987e-27,
        1.00000000e+00,  9.63220114e-14, -1.00000000e+00,  0.00000000e+00,
        9.63220114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08662014, -0.05475111,  0.06198219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.59826098e-05, 6.46156510e-06,-4.90510104e+00,-7.20372447e-03,
 -1.21032336e-03, 7.46510531e-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,
  9.52128545e-02,-6.98877996e-02, 1.30431721e-01, 9.87746280e-01,
 -3.22357352e-05,-3.46796789e-04,-1.56067825e-01]

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,  1.23031741, -1.77696631,  0.18823365, 18.10408957,
  27.25662663, -1.18054266]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762128056765597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81689670e-14,  9.63379340e-14,  1.00000000e+00, -4.64049876e-27,
        1.00000000e+00, -9.63379340e-14, -1.00000000e+00,  0.00000000e+00,
        4.81689670e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08662273, -0.05475062,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.66739733e-05,-1.36317637e-05,-4.90508137e+00,-7.19582019e-03,
 -1.21452808e-03, 4.22514174e-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,
  9.52402374e-02,-6.98875904e-02, 1.30433926e-01, 9.87734571e-01,
 -7.23865136e-05,-1.45335231e-04,-1.56142213e-01]

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,  1.21845025, -1.74914838,  0.03982907, 17.91911589,
  26.57168116, -1.27601709]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005730886976923061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84315530e-14, -1.93726212e-13,  1.00000000e+00,  9.38246129e-27,
        1.00000000e+00,  1.93726212e-13, -1.00000000e+00,  0.00000000e+00,
        4.84315530e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08662432, -0.05474953,  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:
[ 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,
  2.40906505e-05,-3.04043786e-05,-4.90508864e+00,-7.19018768e-03,
 -1.22203578e-03, 1.35813199e-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,
  9.52724562e-02,-6.98942856e-02, 1.30435780e-01, 9.87722396e-01,
 -6.93292349e-05, 1.01991968e-04,-1.56219246e-01]

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,  1.20895566, -1.72607572, -0.08786837, 17.75805554,
  26.02490286, -1.34391316]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005675706697931132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78048271e-14,  9.78048271e-14,  1.00000000e+00, -9.56578421e-27,
        1.00000000e+00, -9.78048271e-14, -1.00000000e+00,  0.00000000e+00,
        9.78048271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08662513, -0.05474798,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.26799847e-06,-4.41364353e-05,-4.90512117e+00,-7.18681146e-03,
 -1.23274728e-03,-1.18459292e-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,
  9.52994781e-02,-6.99105711e-02, 1.30437005e-01, 9.87710919e-01,
  1.23226436e-05, 3.24934910e-04,-1.56291505e-01]

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,-1.29923994,-2.39760839,
 -0.1570284 ,40.71924957,-5.90364545, 2.41560404]

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([ 6.16284182,  6.04852193,  1.18152516,  6.04852193,  7.83391331,
       -8.55463168,  1.18152516, -8.55463168, 49.95613455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005676857021778142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88925043e-14,  1.95570017e-13,  1.00000000e+00, -9.56190789e-27,
        1.00000000e+00, -1.95570017e-13, -1.00000000e+00,  0.00000000e+00,
        4.88925043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10575001, -0.04843545,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.07766741e-05,-5.50232461e-05,-4.90517773e+00,-7.18567588e-03,
 -1.24658506e-03,-3.43963009e-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,
  9.53234860e-02,-6.99133951e-02, 1.30437406e-01, 9.87698716e-01,
  3.51510387e-06, 5.01347238e-04,-1.56368141e-01]

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, -0.75346235,  3.36541201, -0.20607602,-41.03699248,
 -30.04832615, -2.23305287]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005694283292062424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74857561e-14, -4.87428781e-14,  1.00000000e+00,  4.75173632e-27,
        1.00000000e+00,  4.87428781e-14, -1.00000000e+00,  0.00000000e+00,
        9.74857561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10092652, -0.09597748,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.91333527e-05,-3.63928263e-05,-4.90516489e+00,-7.18800409e-03,
 -1.25803585e-03,-1.84861345e-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,
  9.53445253e-02,-6.99030327e-02, 1.30436226e-01, 9.87685685e-01,
 -9.42451322e-05, 6.33236778e-04,-1.56449921e-01]

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, -0.74218428,  3.296576  , -0.39502381,-40.44696851,
 -28.94203621, -2.62710982]

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([ 6.19885701,  1.22151964,  6.07731174,  1.22151964, 49.40650959,
       -8.68459583,  6.07731174, -8.68459583,  7.94443216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005720076491049497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21307712e-13, -1.45569254e-13,  1.00000000e+00, -1.76586731e-26,
        1.00000000e+00,  1.45569254e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21307712e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10092222, -0.09597749,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.23211208e-06,-3.84273841e-05,-4.90508776e+00,-7.18492361e-03,
 -1.27160562e-03,-8.75187054e-06]


--- 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,
  9.53601578e-02,-6.99026361e-02, 1.30435700e-01, 9.87673604e-01,
 -1.12474690e-04, 7.42811133e-04,-1.56525680e-01]

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,
 -1.35168149e+00,-2.49146057e+00, 1.63148844e-01, 4.10193994e+01,
 -4.79949457e+00, 3.07159487e+00]

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([ 6.2309256 ,  0.72418162,  6.18869896,  0.72418162, 38.85567527,
       -3.81764315,  6.18869896, -3.81764315,  6.67765391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005758533092726226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81990381e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.81990381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10575845, -0.04844361,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.07423960e-05,-2.74024788e-05,-4.90507642e+00,-7.17680172e-03,
 -1.28194607e-03,-1.26200562e-05]


--- 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,
  9.53705164e-02,-6.99120191e-02, 1.30435038e-01, 9.87662374e-01,
 -5.30453754e-05, 8.29524804e-04,-1.56596118e-01]

qacc:
[-1.01917094e+00, 1.03715916e+00,-3.40979598e-01,-9.63402705e+00,
  5.59071369e+00,-4.25357350e-01, 1.30762578e+00,-2.55807378e+00,
  2.86303367e-01,-2.94792847e-01, 2.04140574e+00,-5.08553787e+00,
 -9.70831169e-01, 1.48211258e+00,-4.58997470e+00, 1.42260723e+01,
 -1.31846239e+00,-2.44486922e+00,-3.37975082e-02, 4.01380232e+01,
 -5.21225892e+00, 2.72191830e+00]

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([  6.25510798,  -4.37732783,  -4.4682633 ,  -4.37732783,
        34.58723215, -27.75552539,  -4.4682633 , -27.75552539,
        33.4457692 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005787518857759966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43872925e-13, -9.59152836e-14,  1.00000000e+00,  1.37996124e-26,
        1.00000000e+00,  9.59152836e-14, -1.00000000e+00,  0.00000000e+00,
        1.43872925e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10576171, -0.04844583,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.14548498e-06,-2.24108150e-05,-4.90503247e+00,-7.17431378e-03,
 -1.28512663e-03,-1.17323634e-05]


--- 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,
  9.53736080e-02,-6.99136872e-02, 1.30435491e-01, 9.87650621e-01,
 -3.79280570e-05, 8.51361198e-04,-1.56670112e-01]

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, -1.81678594,  1.92870255,  0.27876995,-16.80142004,
 -35.50765475, -1.81695805]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579983044730753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78558397e-14, -9.57116794e-14,  1.00000000e+00,  4.58036279e-27,
        1.00000000e+00,  9.57116794e-14, -1.00000000e+00,  0.00000000e+00,
        4.78558397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1085263 , -0.08305081,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.91360972e-05,-1.00748993e-05,-4.90503013e+00,-7.17679806e-03,
 -1.28821826e-03,-1.09859075e-05]


--- 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,
  9.53695524e-02,-6.99077894e-02, 1.30436332e-01, 9.87638310e-01,
 -6.65928714e-05, 8.09964052e-04,-1.56747912e-01]

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, -1.78677822,  1.89148809,  0.09692588,-16.66571278,
 -34.65568839, -1.943268  ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005805248949855984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.7811172e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.7811172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10852469, -0.08305183,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.95513682e-06,-1.72566159e-07,-4.90500101e+00,-7.17641083e-03,
 -1.29080381e-03,-1.23449119e-05]


--- 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,
  9.53590183e-02,-6.99030042e-02, 1.30438723e-01, 9.87626402e-01,
 -7.93628163e-05, 7.25135156e-04,-1.56823334e-01]

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, -1.61963116, -0.27815899,  0.38749324, 11.25215937,
 -20.2019293 ,  1.21113883]

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([ 6.24363367, -0.33376625,  6.23470621, -0.33376625, 39.5092194 ,
        1.78082644,  6.23470621,  1.78082644,  6.33896771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005773766695951242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80718690e-14, -1.00682645e-06,  1.00000000e+00,  4.84000294e-20,
        1.00000000e+00,  1.00682645e-06, -1.00000000e+00,  6.01853108e-36,
        4.80718690e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10716266, -0.06592827,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  8.44855188e-06, 1.43248292e-05,-4.90501036e+00,-7.17391219e-03,
 -1.28921502e-03,-1.15917719e-05]


--- 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,
  9.53433317e-02,-6.99077727e-02, 1.30439914e-01, 9.87615301e-01,
 -1.77342659e-05, 6.18283223e-04,-1.56893707e-01]

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, -1.28811269, -2.38842939, -0.30014518, 38.46402346,
  -5.042049  ,  2.58287301]

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([ 6.21519627, -1.03537937,  6.12834841, -1.03537937, 37.4913097 ,
        5.28407335,  6.12834841,  5.28407335,  7.10793606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005739673339376777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67148267e-14, -9.67148267e-14,  1.00000000e+00,  9.35375770e-27,
        1.00000000e+00,  9.67148267e-14, -1.00000000e+00,  0.00000000e+00,
        9.67148267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10577736, -0.04844692,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.94008901e-06, 2.41659808e-05,-4.90502791e+00,-7.17334928e-03,
 -1.28312557e-03,-1.06017482e-05]


--- 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,
  9.53247271e-02,-6.98996198e-02, 1.30438961e-01, 9.87603283e-01,
 -4.55949362e-05, 4.67610196e-04,-1.56969853e-01]

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, -0.72949479,  3.2303536 , -0.53575784,-40.75105814,
 -28.6590045 , -2.95130582]

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([ 6.18779641, -1.07109891, -6.09438853, -1.07109891, 62.99235375,
       -9.98349532, -6.09438853, -9.98349532,  7.9424123 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005706807060518876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72718206e-14, -4.86359103e-14,  1.00000000e+00, -4.73090354e-27,
        1.00000000e+00,  4.86359103e-14, -1.00000000e+00,  0.00000000e+00,
       -9.72718206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10089816, -0.09597879,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.23194247e-06, 3.14677875e-05,-4.90505347e+00,-7.17811995e-03,
 -1.27474004e-03,-1.08620238e-05]


--- 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,
  9.53008706e-02,-6.99011417e-02, 1.30437301e-01, 9.87592101e-01,
  1.94111350e-06, 2.95067525e-04,-1.57040618e-01]

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, -1.31300798, -2.41869741, -0.1769364 , 38.94622267,
  -4.88207899,  2.74012885]

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([ 6.17021236,  0.91687201,  6.10171011,  0.91687201, 36.36818764,
       -4.53769155,  6.10171011, -4.53769155,  6.85206749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005685704818021303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88164203e-14, -9.76328406e-14,  1.00000000e+00,  4.76608578e-27,
        1.00000000e+00,  9.76328406e-14, -1.00000000e+00,  0.00000000e+00,
        4.88164203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10578583, -0.04844595,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.73464214e-06, 4.04743980e-05,-4.90508232e+00,-7.17682909e-03,
 -1.26796298e-03,-6.64207567e-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,
  9.52740587e-02,-6.98896918e-02, 1.30433621e-01, 9.87579930e-01,
 -4.02673617e-05, 7.88701055e-05,-1.57117390e-01]

qacc:
[ 4.21144274e+00,-4.14523078e-01, 1.31748521e+00,-1.44395175e+00,
 -6.39389394e+00, 2.22740033e+00,-9.93126244e+00, 1.76294354e+01,
 -1.72680259e-01, 1.78011171e+00,-8.52004815e+00, 1.91983247e+01,
 -3.65050011e-02,-1.47465644e-01,-5.24807081e+00, 1.74263709e+01,
 -7.38806076e-01, 3.24296415e+00,-5.04712899e-01,-4.08868207e+01,
 -2.86031702e+01,-3.05714298e+00]

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([ 6.1656225 , -1.08905221, -6.06867911, -1.08905221, 61.25576057,
       -9.88617715, -6.06867911, -9.88617715,  7.93974219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005680195218930179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22159427e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22159427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10089228, -0.09597923,  0.06198245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.00537290e-06, 4.44500209e-05,-4.90510978e+00,-7.18148877e-03,
 -1.25540570e-03,-7.25245468e-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,
  9.52418985e-02,-6.98880197e-02, 1.30429668e-01, 9.87568592e-01,
 -6.21298430e-06,-1.59268424e-04,-1.57188582e-01]

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,-1.33711491,-2.44446306,
 -0.06855279,39.38129338,-4.84333527, 2.82363885]

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([ 6.16697649,  0.91245118,  6.0991009 ,  0.91245118, 37.09592999,
       -4.62710172,  6.0991009 , -4.62710172,  6.85921039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005681820583096214
  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([ 0.1057943 , -0.04844669,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.21577608e-05, 5.74587733e-05,-4.90516479e+00,-7.17987638e-03,
 -1.24452108e-03,-6.31082463e-07]


--- 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,
  9.52148431e-02,-6.98938213e-02, 1.30427988e-01, 9.87556963e-01,
  7.16289814e-05,-3.47480008e-04,-1.57261307e-01]

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 ,  1.27622297, -1.86843809,  0.56839512, 17.69752762,
  28.09457784, -0.78369517]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005703143680349937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73343025e-14, -1.94668605e-13,  1.00000000e+00,  1.89479329e-26,
        1.00000000e+00,  1.94668605e-13, -1.00000000e+00,  0.00000000e+00,
        9.73343025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08666259, -0.05472211,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.01496148e-06, 5.81619278e-05,-4.90519445e+00,-7.18445928e-03,
 -1.22780609e-03,-1.61798744e-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,
  9.51927966e-02,-6.99069363e-02, 1.30427780e-01, 9.87544992e-01,
  1.92987108e-04,-4.87445464e-04,-1.57335992e-01]

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, 1.25221099,-1.82832101,
  0.3679715 ,17.69339135,27.24447507,-1.00367624]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005739720512563662
  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([ 0.08666539, -0.05472095,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.57793596e-07, 5.24567215e-05,-4.90514058e+00,-7.19174744e-03,
 -1.21586878e-03, 5.33825836e-07]


--- 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,
  9.51756757e-02,-6.99272309e-02, 1.30428349e-01, 9.87532629e-01,
  3.57606882e-04,-5.80549420e-04,-1.57412966e-01]

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, 1.23140742,-1.79492795,
  0.19424691,17.674391  ,26.54191071,-1.17624716]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005738955519769134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83634618e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.83634618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08666716, -0.05471936,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.51725919e-06, 5.02986264e-05,-4.90511568e+00,-7.20123085e-03,
 -1.20720115e-03, 2.93474991e-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,
  9.51555177e-02,-6.99341373e-02, 1.30427943e-01, 9.87519541e-01,
  4.31784413e-04,-7.20266588e-04,-1.57494291e-01]

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,
 -7.59273987e-01, 3.34707469e+00,-2.43670031e-01,-4.09897047e+01,
 -3.01354132e+01,-2.17055012e+00]

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([ 6.24659155,  1.94123821, -5.93729738,  1.94123821, 36.89006411,
       10.01908376, -5.93729738, 10.01908376,  9.52239651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005777311985078332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.60847387e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.60847387e-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([ 0.10087264, -0.09597617,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.10968006e-05, 5.13695851e-05,-4.90511778e+00,-7.21292442e-03,
 -1.20170454e-03, 5.57150084e-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,
  9.51444621e-02,-6.99351986e-02, 1.30428814e-01, 9.87507726e-01,
  4.50685713e-04,-8.02009819e-04,-1.57567908e-01]

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,
  2.27561266e+00, 1.46124446e+00, 3.19068575e-01,-3.18559603e+01,
  2.42744750e+01, 3.91319485e+00]

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([ 6.26485293, -4.39449621,  4.46506275, -4.39449621, 24.34757892,
       17.79694381,  4.46506275, 17.79694381, 23.7805311 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005799196651637381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03439691e-06, -1.03439682e-06,  1.00000000e+00, -1.06997687e-12,
        1.00000000e+00,  1.03439682e-06, -1.00000000e+00,  2.01948392e-28,
       -1.03439691e-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([ 0.07864066, -0.08052843,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.31759669e-06, 4.64989208e-05,-4.90508715e+00,-7.21769537e-03,
 -1.19664526e-03, 7.61288998e-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,
  9.51427360e-02,-6.99308004e-02, 1.30430101e-01, 9.87497174e-01,
  4.17611484e-04,-8.23159500e-04,-1.57634004e-01]

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,  2.33234962,  1.36490872,  0.10408675,-30.43418604,
  25.82566295,  3.82037255]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005821162722342149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.53609337e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.53609337e-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([ 0.07785987, -0.07998345,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.15130693e-07, 2.37700854e-05,-4.90502664e+00,-7.22054263e-03,
 -1.19432647e-03, 1.11785820e-05]


--- 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,
  9.51501781e-02,-6.99210152e-02, 1.30431130e-01, 9.87487812e-01,
  3.33921257e-04,-7.84506496e-04,-1.57693035e-01]

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,  2.29205294,  1.3467263 , -0.0643816 ,-29.70238725,
  25.54005524,  3.59040025]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806456115653585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.56024641e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.56024641e-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([ 0.07785854, -0.07998192,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.67547851e-06, 7.48499696e-06,-4.90500587e+00,-7.21956286e-03,
 -1.19469171e-03, 1.22595003e-05]


--- 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,
  9.51657372e-02,-6.99093385e-02, 1.30432727e-01, 9.87479097e-01,
  2.26226853e-04,-6.88966001e-04,-1.57748239e-01]

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,  2.02927946,  0.47289394,  0.14187276,-16.33590286,
  26.19609928,  1.94058306]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005760705579438603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.83916429e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.83916429e-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([ 0.08034258, -0.0726922 ,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.79639838e-05,-2.25370265e-06,-4.90502491e+00,-7.21479334e-03,
 -1.19779816e-03, 1.09110741e-05]


--- 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,
  9.51861752e-02,-6.99047514e-02, 1.30434915e-01, 9.87469945e-01,
  1.63228725e-04,-5.46208885e-04,-1.57806157e-01]

qacc:
[  7.1576625 , -1.04433028,  5.79588685,-16.28532929,  1.10047731,
  -1.19056087,  2.73082666,  0.91414029, -4.14505658,  0.35739112,
  -2.23402575,  6.70578433, -0.21618677, -0.07435918,  6.18544108,
 -22.16295384,  1.219701  , -1.77241325,  0.14771795, 18.34326388,
  26.83763466, -1.39533208]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724129556775454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.69774543e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.69774543e-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([ 0.08668054, -0.05471416,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.52472668e-05,-9.97431156e-06,-4.90506103e+00,-7.20796194e-03,
 -1.20328856e-03, 7.70811268e-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,
  9.52114440e-02,-6.99071513e-02, 1.30437126e-01, 9.87460323e-01,
  1.44292934e-04,-3.57373426e-04,-1.57866911e-01]

qacc:
[ 4.52752975e+00, 1.18856175e+00,-8.14115019e+00, 2.03319426e+01,
 -2.38357930e+00,-1.18513795e-01,-4.39619840e+00, 1.93352652e+01,
 -8.69707290e+00, 4.88525547e-01,-4.27063906e+00, 1.31914436e+01,
 -5.32021506e-01, 7.01861561e-01,-6.75600128e-01, 1.50255080e+00,
  1.20768975e+00,-1.74676395e+00, 5.90266418e-03, 1.81186573e+01,
  2.62267844e+01,-1.45285934e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005688522212732583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.75844853e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.75844853e-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([ 0.08668161, -0.05471324,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.46326177e-05,-2.34258689e-05,-4.90507017e+00,-7.20351823e-03,
 -1.21049641e-03, 5.26508768e-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,
  9.52376460e-02,-6.99060829e-02, 1.30441260e-01, 9.87450672e-01,
  1.00448476e-04,-1.67601965e-04,-1.57927617e-01]

qacc:
[ 2.66518447e+00, 2.73263046e+00,-1.34317429e+01, 2.72957167e+01,
 -1.52707254e+00,-5.35127038e-01, 2.83339960e+00,-6.88587287e+00,
  3.85565510e+00, 5.60518821e-01,-3.32415931e+00, 8.28475829e+00,
 -2.68416534e-01, 4.45328387e-01,-7.08157957e+00, 2.36937357e+01,
  2.33328026e-01, 8.67097400e-01, 4.80735050e-01,-1.23720313e+01,
 -1.50399646e+00, 2.53394489e-02]

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([ 6.12252576,  1.34903039, -5.97205482,  1.34903039, 48.69821632,
        9.61744359, -5.97205482,  9.61744359,  8.29501481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005628430749500552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.81909097e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.81909097e-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([ 0.09367557, -0.07508694,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.89029758e-07,-3.39296048e-05,-4.90510442e+00,-7.20136752e-03,
 -1.22084686e-03, 3.14237459e-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,
  9.52609498e-02,-6.98921605e-02, 1.30442784e-01, 9.87440172e-01,
 -2.95707887e-05,-2.07936096e-05,-1.57993371e-01]

qacc:
[ 4.56290911e+00, 1.64393280e+00,-5.85523967e+00, 7.29766349e+00,
 -9.13776031e-01,-6.16267249e-01, 4.84775695e+00,-1.39252505e+01,
  2.59546550e+00,-4.22489983e-01, 2.28235790e+00,-5.65046608e+00,
 -2.79642973e-02,-1.17928976e-01,-2.31605630e+00, 7.70521095e+00,
 -7.24583630e-01, 3.21350579e+00,-6.52712953e-01,-3.91545354e+01,
 -2.80169898e+01,-2.54951020e+00]

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([ 6.09893376,  2.12879944, -5.71534828,  2.12879944, 27.33959001,
        7.91152086, -5.71534828,  7.91152086,  9.04574301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005600066995247732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91258699e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.91258699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10084754, -0.09599433,  0.0619827 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.02227426e-06,-3.42948551e-05,-4.90511039e+00,-7.19681963e-03,
 -1.23269136e-03,-7.28401696e-07]


--- 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,
  9.52788620e-02,-6.98880584e-02, 1.30444504e-01, 9.87430486e-01,
 -8.05563337e-05, 1.02259298e-04,-1.58053847e-01]

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,
 -1.34788154e+00,-2.45509913e+00, 4.90942842e-02, 4.08972037e+01,
 -5.48520962e+00, 2.66883623e+00]

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([ 6.0748791 ,  0.70007963,  6.03440508,  0.70007963, 44.9181208 ,
       -4.50638663,  6.03440508, -4.50638663,  6.59768615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005571125061022836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.96408277e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.96408277e-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([ 0.10583471, -0.04846514,  0.06198278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.82474394e-05,-2.13133659e-05,-4.90511338e+00,-7.18681405e-03,
 -1.24301754e-03,-4.43777574e-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,
  9.52915006e-02,-6.98936127e-02, 1.30445716e-01, 9.87421545e-01,
 -5.43156517e-05, 2.01245741e-04,-1.58109610e-01]

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,
 -1.31839307e+00,-2.41408161e+00,-1.26907036e-01, 4.00294533e+01,
 -5.77925690e+00, 2.38859408e+00]

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: -0.0005594887202387822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92176414e-14, -9.92176414e-14,  1.00000000e+00,  9.84414037e-27,
        1.00000000e+00,  9.92176414e-14, -1.00000000e+00,  0.00000000e+00,
        9.92176414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10583713, -0.04846729,  0.06198271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.11008178e-05,-2.10219223e-05,-4.90505007e+00,-7.18221016e-03,
 -1.24722728e-03,-3.44811957e-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,
  9.52989651e-02,-6.99086843e-02, 1.30445810e-01, 9.87413281e-01,
  4.76535426e-05, 2.75955791e-04,-1.58161102e-01]

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, -1.29352075, -2.37934504, -0.27956854, 39.30673659,
  -5.99899856,  2.16902132]

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: -0.0005584740336128796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96989546e-14, -1.98795818e-13,  1.00000000e+00,  9.87994433e-27,
        1.00000000e+00,  1.98795818e-13, -1.00000000e+00,  0.00000000e+00,
        4.96989546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10583954, -0.04846803,  0.06198274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -8.94404767e-06,-1.33986020e-05,-4.90502878e+00,-7.18256909e-03,
 -1.25121580e-03,-2.63228276e-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,
  9.53034250e-02,-6.99104209e-02, 1.30444831e-01, 9.87404045e-01,
  5.83078460e-05, 3.06390988e-04,-1.58218691e-01]

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, -0.75116902,  3.33376346, -0.26814602,-41.58062398,
 -29.08003186, -3.09830454]

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: -0.0005614198610330023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88763581e-14, -9.88763581e-14,  1.00000000e+00,  9.77653419e-27,
        1.00000000e+00,  9.88763581e-14, -1.00000000e+00,  0.00000000e+00,
        9.88763581e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1008353 , -0.09599652,  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:
[ 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,
 -2.25494474e-05, 1.17979059e-06,-4.90504731e+00,-7.18780006e-03,
 -1.25487888e-03,-1.99473301e-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,
  9.53049229e-02,-6.98990715e-02, 1.30442068e-01, 9.87393786e-01,
 -2.06515083e-05, 2.94061638e-04,-1.58282733e-01]

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, -0.74048231,  3.27152099, -0.44616902,-40.85835044,
 -28.20225277, -3.27928414]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635217190170239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.8507563e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.8507563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10083266, -0.0959959 ,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.67450605e-06,-2.56462590e-06,-4.90500195e+00,-7.18752382e-03,
 -1.25883606e-03,-4.40342318e-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,
  9.53018469e-02,-6.98856313e-02, 1.30441924e-01, 9.87383466e-01,
 -1.08736001e-04, 2.48012092e-04,-1.58347146e-01]

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, -1.14349349,  0.52267208,  0.65484707, -1.83633636,
 -17.36971875, -0.18946005]

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([ 6.1153767 ,  1.07608495,  6.01995625,  1.07608495, 44.61526873,
       -6.88196937,  6.01995625, -6.88196937,  7.34554904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005619837846212195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87771405e-14, -2.22860194e-07,  1.00000000e+00,  2.20134927e-20,
        1.00000000e+00,  2.22860194e-07, -1.00000000e+00,  3.00926554e-36,
        9.87771405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335281, -0.07210797,  0.06198263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.67388461e-05, 7.72812563e-06,-4.90502060e+00,-7.18207852e-03,
 -1.25976833e-03,-3.86604541e-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,
  9.52934191e-02,-6.98819623e-02, 1.30441615e-01, 9.87373991e-01,
 -1.19897845e-04, 1.79040006e-04,-1.58406299e-01]

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, -1.33793596, -2.44278951, -0.04136378, 39.79032903,
  -5.22681856,  2.67165343]

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([ 6.14409948,  0.56247022,  6.11829925,  0.56247022, 42.43738664,
       -3.33653069,  6.11829925, -3.33653069,  6.45083491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005654350879222558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.81742244e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.81742244e-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([ 0.10585157, -0.04847363,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.76796379e-05, 1.57921895e-05,-4.90503320e+00,-7.17668661e-03,
 -1.25623021e-03,-2.49799075e-06]


--- 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,
  9.52797435e-02,-6.98879001e-02, 1.30440472e-01, 9.87365266e-01,
 -5.55579403e-05, 8.66192777e-05,-1.58460787e-01]

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,
 -1.31195450e+00,-2.40169931e+00,-2.08253327e-01, 3.91310656e+01,
 -5.59666047e+00, 2.36761755e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000565279868442875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.8201182e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.8201182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10585482, -0.04847419,  0.06198253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.92063030e-06, 1.53077365e-05,-4.90501839e+00,-7.17665253e-03,
 -1.24952890e-03,-2.62658391e-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,
  9.52609055e-02,-6.99033066e-02, 1.30437920e-01, 9.87357194e-01,
  8.31044987e-05,-2.96488452e-05,-1.58511084e-01]

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 ,-1.29059897,-2.36720018,
 -0.35251725,38.58101962,-5.88458567, 2.12368937]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005621490643627908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87480986e-14, -1.97496197e-13,  1.00000000e+00,  1.95023740e-26,
        1.00000000e+00,  1.97496197e-13, -1.00000000e+00,  0.00000000e+00,
        9.87480986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10585789, -0.04847364,  0.06198263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.37385559e-06, 2.21082187e-05,-4.90504363e+00,-7.18144691e-03,
 -1.24258444e-03,-2.84489133e-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,
  9.52390277e-02,-6.99053414e-02, 1.30434454e-01, 9.87348052e-01,
  1.29452171e-04,-1.90227834e-04,-1.58567873e-01]

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, -0.75995173,  3.34295382, -0.22832355,-42.06199491,
 -29.19206891, -3.28665124]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005651641383964262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82212909e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.82212909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10082051, -0.09599529,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.69091631e-06, 3.58879220e-05,-4.90510726e+00,-7.19100445e-03,
 -1.23528950e-03,-3.17594020e-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,
  9.52141452e-02,-6.98942583e-02, 1.30429334e-01, 9.87337799e-01,
  8.53932588e-05,-3.93707194e-04,-1.58631363e-01]

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, -0.75118   ,  3.27947427, -0.41350325,-41.23063768,
 -28.34712854, -3.38454955]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005678361281220984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.77591042e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.77591042e-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([ 0.10081812, -0.09599403,  0.06198245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.22342636e-06, 3.30718349e-05,-4.90509458e+00,-7.19457495e-03,
 -1.22768306e-03, 1.63538336e-07]


--- 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,
  9.51943705e-02,-6.98907292e-02, 1.30426968e-01, 9.87327280e-01,
  8.63575697e-05,-5.45937821e-04,-1.58696366e-01]

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,
  1.27694574e+00,-1.88851283e+00, 6.88440788e-01, 1.81614500e+01,
  2.88708369e+01,-7.79618965e-01]

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([ 6.2091267 , -1.55019787,  6.01249873, -1.55019787, 47.63909799,
       10.68185726,  6.01249873, 10.68185726,  8.96322165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005732394393681006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84188172e-14, -9.68376344e-14,  1.00000000e+00,  4.68876371e-27,
        1.00000000e+00,  9.68376344e-14, -1.00000000e+00,  0.00000000e+00,
        4.84188172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08671327, -0.05469664,  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:
[ 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,
  9.17288115e-06, 4.47894868e-05,-4.90514577e+00,-7.19291099e-03,
 -1.21705313e-03, 6.43600806e-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,
  9.51796069e-02,-6.98945819e-02, 1.30426489e-01, 9.87316450e-01,
  1.31835564e-04,-6.48863074e-04,-1.58763311e-01]

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,
  1.25278268e+00,-1.84543914e+00, 4.71627073e-01, 1.80619788e+01,
  2.78721819e+01,-9.97349232e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005788933675960756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79459209e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.79459209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08671686, -0.05469637,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.27589517e-06, 3.42965758e-05,-4.90508020e+00,-7.19514192e-03,
 -1.20672175e-03, 7.08778528e-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,
  9.51697706e-02,-6.99056714e-02, 1.30427142e-01, 9.87305264e-01,
  2.21371549e-04,-7.04078696e-04,-1.58832526e-01]

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,  1.2318304 , -1.80922084,  0.28323649, 17.96160669,
  27.04938253, -1.16643261]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005803569532168845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43475022e-13, -9.56500149e-14,  1.00000000e+00,  1.37233880e-26,
        1.00000000e+00,  9.56500149e-14, -1.00000000e+00,  0.00000000e+00,
        1.43475022e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08671925, -0.05469547,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.92706434e-06, 2.75004540e-05,-4.90504496e+00,-7.19961602e-03,
 -1.19975702e-03, 8.06114130e-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,
  9.51647899e-02,-6.99238774e-02, 1.30428277e-01, 9.87293675e-01,
  3.54569058e-04,-7.12889356e-04,-1.58904263e-01]

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,  1.21389529, -1.77910173,  0.12036265, 17.86747495,
  26.3749461 , -1.29736424]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005784335398841961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.59680714e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.59680714e-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([ 0.0867207 , -0.05469406,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.23919923e-05, 2.40258673e-05,-4.90503766e+00,-7.20633790e-03,
 -1.19604159e-03, 9.32378277e-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,
  9.51681200e-02,-6.99402008e-02, 1.30430681e-01, 9.87282822e-01,
  4.62954530e-04,-6.65624795e-04,-1.58971610e-01]

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,  2.07770496,  0.470636  ,  0.31721784,-16.70224532,
  25.71102668,  2.22466917]

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([  6.24116831,  -1.8990466 ,  -5.94523371,  -1.8990466 ,
        39.97177627, -10.77434453,  -5.94523371, -10.77434453,
         9.68274577,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005770811622881445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80964853e-14, -8.24884734e-07,  1.00000000e+00,  3.96740565e-20,
        1.00000000e+00,  8.24884734e-07, -1.00000000e+00,  0.00000000e+00,
        4.80964853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08034118, -0.07265485,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.60818028e-05, 2.36061271e-05,-4.90505648e+00,-7.21530758e-03,
 -1.19548116e-03, 1.08508307e-05]


--- 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,
  9.51684511e-02,-6.99432076e-02, 1.30431836e-01, 9.87271207e-01,
  4.82031521e-04,-6.63568386e-04,-1.59043675e-01]

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,
 -7.49752741e-01, 3.32915711e+00,-3.12262608e-01,-4.04943524e+01,
 -2.94167178e+01,-2.34955596e+00]

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([ 6.2578025 ,  4.54170407, -4.30499898,  4.54170407, 29.60502147,
       24.63093719, -4.30499898, 24.63093719, 32.24304156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005790747958597242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.58617982e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.58617982e-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([ 0.10079644, -0.09599391,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.63535383e-05, 6.41713423e-06,-4.90504155e+00,-7.22217030e-03,
 -1.20069641e-03, 1.13849401e-05]


--- 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,
  9.51658176e-02,-6.99331555e-02, 1.30431036e-01, 9.87258743e-01,
  4.13178707e-04,-7.05054183e-04,-1.59121046e-01]

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, -0.74116065,  3.26473282, -0.48856757,-39.94428194,
 -28.4878844 , -2.64743347]

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([  6.25650858,   1.31179079,   6.11744265,   1.31179079,
        58.8476709 , -11.27735988,   6.11744265, -11.27735988,
         8.67476367,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005789197348785718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58874744e-14, -9.58874744e-14,  1.00000000e+00,  9.19440774e-27,
        1.00000000e+00,  9.58874744e-14, -1.00000000e+00,  0.00000000e+00,
        9.58874744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10079312, -0.09599518,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.77654142e-06, 4.42647419e-06,-4.90500105e+00,-7.22244266e-03,
 -1.20353587e-03, 9.78438807e-06]


--- 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,
  9.51606680e-02,-6.99104722e-02, 1.30427941e-01, 9.87245396e-01,
  2.58247053e-04,-7.85156350e-04,-1.59203787e-01]

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, -0.62901078,  3.15780499, -0.57382189,-39.42041554,
 -25.91207159, -2.68194357]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005754759895677138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.40408219e-07,  5.40408201e-07,  1.00000000e+00,  2.92041033e-13,
        1.00000000e+00, -5.40408201e-07, -1.00000000e+00,  0.00000000e+00,
       -5.40408219e-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([ 0.09991357, -0.09538374,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.75087451e-05, 1.57501506e-05,-4.90502265e+00,-7.21769841e-03,
 -1.20319704e-03, 1.11100622e-05]


--- 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,
  9.51626806e-02,-6.98896565e-02, 1.30427523e-01, 9.87232365e-01,
  1.04952878e-04,-8.07036522e-04,-1.59284635e-01]

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,  1.79055961, -0.46693477,  0.66929113, -3.82558223,
  28.87041271,  0.95099599]

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([ 6.26077252, -2.71994104,  5.63907734, -2.71994104, 39.27279283,
       15.92295038,  5.63907734, 15.92295038, 13.94101585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005794307094692669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.33491071e-14, -1.91605831e-13,  1.00000000e+00,  1.40541166e-26,
        1.00000000e+00,  1.91605831e-13, -1.00000000e+00,  0.00000000e+00,
        7.33491071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281824, -0.06546326,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.81716206e-05, 3.86761132e-05,-4.90510038e+00,-7.20805547e-03,
 -1.20002425e-03, 1.50173260e-05]


--- 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,
  9.51696318e-02,-6.98761964e-02, 1.30428915e-01, 9.87219097e-01,
 -3.51598046e-06,-7.78144871e-04,-1.59367026e-01]

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,  1.23463574, -1.83887318,  0.4522249 , 18.08230555,
  28.6316092 , -0.80142555]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005834828710390427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75687925e-14,  9.51375850e-14,  1.00000000e+00, -4.52558004e-27,
        1.00000000e+00, -9.51375850e-14, -1.00000000e+00,  0.00000000e+00,
        4.75687925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08673959, -0.05468931,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.09419112e-05, 2.18724570e-05,-4.90507650e+00,-7.19999008e-03,
 -1.19737940e-03, 1.33608289e-05]


--- 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,
  9.51814573e-02,-6.98699442e-02, 1.30431372e-01, 9.87205537e-01,
 -6.77536181e-05,-7.00366678e-04,-1.59451349e-01]

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 , 1.21856603,-1.80197605,
  0.26645192,17.93674975,27.65525266,-0.99390612]

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([ 6.30267205, -0.43127297, -6.28789938, -0.43127297, 66.48296912,
       -4.12763208, -6.28789938, -4.12763208,  6.58577711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005844504822162672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4980076e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4980076e-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([ 0.08674294, -0.05468867,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.13491135e-05, 1.35739342e-06,-4.90503769e+00,-7.19414119e-03,
 -1.19677766e-03, 1.09625450e-05]


--- 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,
  9.51981028e-02,-6.98707761e-02, 1.30434252e-01, 9.87191633e-01,
 -8.82770430e-05,-5.75222966e-04,-1.59537897e-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, 1.20501076,-1.77102337,
  0.10592117,17.80041749,26.86485167,-1.13959179]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005820727258121494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76840339e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.76840339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08674513, -0.05468744,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.86344266e-05,-1.55675235e-05,-4.90502696e+00,-7.19052393e-03,
 -1.19954372e-03, 8.93364210e-06]


--- 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,
  9.52195237e-02,-6.98785893e-02, 1.30437004e-01, 9.87177334e-01,
 -6.55281888e-05,-4.03932589e-04,-1.59626890e-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,
  1.19384591e+00,-1.74534380e+00,-3.22049153e-02, 1.76772246e+01,
  2.62295796e+01,-1.24841475e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005770383068743612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81000573e-14, -1.92400229e-13,  1.00000000e+00,  9.25446204e-27,
        1.00000000e+00,  1.92400229e-13, -1.00000000e+00,  0.00000000e+00,
        4.81000573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0867464 , -0.05468576,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.80695423e-06,-2.92571686e-05,-4.90504232e+00,-7.18913531e-03,
 -1.20556038e-03, 7.22733001e-06]


--- 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,
  9.52456843e-02,-6.98932999e-02, 1.30439154e-01, 9.87162585e-01,
  1.22804156e-07,-1.87462906e-04,-1.59718486e-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, 1.1849211 ,-1.72432689,
 -0.15061715,17.56955309,25.72415577,-1.32813313]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005699343727684214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73991987e-14, -1.94798397e-13,  1.00000000e+00,  1.89732078e-26,
        1.00000000e+00,  1.94798397e-13, -1.00000000e+00,  0.00000000e+00,
        9.73991987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08674695, -0.05468371,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.61312068e-05,-3.99634362e-05,-4.90508227e+00,-7.18996918e-03,
 -1.21473539e-03, 5.80808495e-06]


--- 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,
  9.52765571e-02,-6.99148402e-02, 1.30440296e-01, 9.87147331e-01,
  1.08373635e-04, 7.34288752e-05,-1.59812798e-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,  1.17807547, -1.7074263 , -0.25180482, 17.47871347,
  25.32786095, -1.38480349]

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: -0.0005612586358702681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89047610e-14, -1.97809522e-13,  1.00000000e+00,  1.95643035e-26,
        1.00000000e+00,  1.97809522e-13, -1.00000000e+00,  0.00000000e+00,
        9.89047610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08674694, -0.05468139,  0.06198266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.81889400e-05,-4.78571744e-05,-4.90514575e+00,-7.19301793e-03,
 -1.22699681e-03, 4.64970224e-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,
  9.53045185e-02,-6.99227294e-02, 1.30440967e-01, 9.87131564e-01,
  1.26491143e-04, 2.86038703e-04,-1.59909905e-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, -0.7278851 ,  3.41274441, -0.1177864 ,-40.62926723,
 -31.03306349, -1.42125596]

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([ 6.14926351,  1.79352909, -5.88189554,  1.79352909, 38.15041466,
        9.75790798, -5.88189554,  9.75790798,  9.12468047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005660553018028286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96133314e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96133314e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10075387, -0.09601534,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.33884919e-05,-5.30439455e-05,-4.90523200e+00,-7.19827348e-03,
 -1.24228924e-03, 3.73367746e-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,
  9.53296075e-02,-6.99172721e-02, 1.30440364e-01, 9.87115140e-01,
  5.58433273e-05, 4.52776667e-04,-1.60010910e-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, -0.71808174,  3.33666814, -0.31851117,-40.14324509,
 -29.73816316, -1.98640852]

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([ 6.1854227 ,  0.20164688,  6.18213495,  0.20164688, 40.61738677,
       -1.12309068,  6.18213495, -1.12309068,  6.22205531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005703958905648593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73203912e-14, -9.73203912e-14,  1.00000000e+00,  9.47125855e-27,
        1.00000000e+00,  9.73203912e-14, -1.00000000e+00,  0.00000000e+00,
        9.73203912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10074801, -0.09601536,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.81497612e-05,-5.59864409e-05,-4.90512739e+00,-7.19605899e-03,
 -1.25909237e-03,-4.80660572e-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,
  9.53518607e-02,-6.98987243e-02, 1.30437790e-01, 9.87097923e-01,
 -1.02388090e-04, 5.75601771e-04,-1.60116669e-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, -0.70894104,  3.27258368, -0.49283438,-39.71318318,
 -28.6806429 , -2.42826128]

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([ 6.18757676,  0.57419218,  6.16087733,  0.57419218, 50.52049743,
       -4.13181678,  6.16087733, -4.13181678,  6.57266102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005706543518332469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94552626e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94552626e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10074365, -0.0960168 ,  0.06198237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.39226819e-05,-4.65947232e-05,-4.90509021e+00,-7.18891644e-03,
 -1.27244706e-03,-1.02214507e-05]


--- 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,
  9.53684805e-02,-6.98902693e-02, 1.30436590e-01, 9.87081892e-01,
 -1.79505140e-04, 6.77787073e-04,-1.60215002e-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,
 -1.40838277e+00,-2.52316324e+00, 3.43550595e-01, 4.16842233e+01,
 -3.69359401e+00, 3.78232177e+00]

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([ 6.21506432,  0.70292748,  6.17518563,  0.70292748, 35.99355313,
       -3.38971479,  6.17518563, -3.38971479,  6.60091891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005739515114759897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.67174929e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.67174929e-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([ 0.10593279, -0.04851934,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.41840245e-05,-2.49725896e-05,-4.90511606e+00,-7.17684455e-03,
 -1.28259096e-03,-1.27227265e-05]


--- 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,
  9.53796250e-02,-6.98916950e-02, 1.30435877e-01, 9.87066911e-01,
 -1.77663087e-04, 7.58334343e-04,-1.60306914e-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,
 -1.36879285e+00,-2.47020789e+00, 1.21996801e-01, 4.07008381e+01,
 -4.35497025e+00, 3.27799565e+00]

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([  6.26673864,  -3.74458536,  -5.02494713,  -3.74458536,
        31.0621482 , -18.47751333,  -5.02494713, -18.47751333,
        20.03616229,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005801456214255402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91369715e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91369715e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10593717, -0.04852309,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.61215801e-05,-2.47585880e-05,-4.90504383e+00,-7.17083741e-03,
 -1.28349710e-03,-1.19619401e-05]


--- 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,
  9.53854276e-02,-6.99028210e-02, 1.30434883e-01, 9.87052859e-01,
 -9.86635484e-05, 8.16500616e-04,-1.60393195e-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, -1.33547901, -2.42504825, -0.07048847, 39.87166229,
  -4.8621843 ,  2.88073946]

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([  6.2815026 ,  -4.01687628,  -4.82928358,  -4.01687628,
        36.02688102, -24.74145558,  -4.82928358, -24.74145558,
        26.86082136,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005819145484764199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76969955e-14, -9.53939911e-14,  1.00000000e+00,  4.55000676e-27,
        1.00000000e+00,  9.53939911e-14, -1.00000000e+00,  0.00000000e+00,
        4.76969955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10594117, -0.04852502,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.53854890e-06,-1.67547318e-05,-4.90501480e+00,-7.16985671e-03,
 -1.28458249e-03,-1.12674455e-05]


--- 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,
  9.53859997e-02,-6.99234948e-02, 1.30432941e-01, 9.87039623e-01,
  5.59995977e-05, 8.51734141e-04,-1.60474466e-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,
 -1.30762804e+00,-2.38696036e+00,-2.37035039e-01, 3.91791132e+01,
 -5.25053327e+00, 2.56814110e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005801018922893669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.56920706e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.56920706e-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([ 0.10594487, -0.0485255 ,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.57966806e-05,-1.48627908e-06,-4.90502648e+00,-7.17380545e-03,
 -1.28564663e-03,-1.06814699e-05]


--- 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,
  9.53815433e-02,-6.99331928e-02, 1.30431982e-01, 9.87025608e-01,
  1.39608299e-04, 8.30178556e-04,-1.60560706e-01]

qacc:
[ 11.14668106,  1.57156461, -4.94509874,  6.34345318,  1.6143019 ,
  -2.05954357, 11.26042397,-27.4769961 ,  4.65218961,  0.28886135,
  -2.40323493,  5.89468665, -0.08124949, -0.16582861,  2.8232382 ,
 -10.2040272 , -1.25714654,  2.74394792,  0.24579714,-30.50803725,
 -33.72757117, -2.54373461]

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([ 6.31065507, -0.86861997, -6.25058932, -0.86861997, 65.97749111,
       -8.29166701, -6.25058932, -8.29166701,  7.46291563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005854066697509135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63802170e-07, -1.15567893e-13,  1.00000000e+00, -8.82710077e-20,
        1.00000000e+00,  1.15567893e-13, -1.00000000e+00,  1.20370622e-35,
       -7.63802170e-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([ 0.1044861 , -0.08973505,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -4.13912207e-05, 2.06882150e-05,-4.90507692e+00,-7.18260055e-03,
 -1.28654102e-03,-1.02286544e-05]


--- 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,
  9.53742093e-02,-6.99295614e-02, 1.30429985e-01, 9.87010738e-01,
  1.31423737e-04, 7.63494505e-04,-1.60652429e-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,
 -7.19381784e-01, 3.33234234e+00,-2.59542669e-01,-4.16758855e+01,
 -2.96406983e+01,-2.80995273e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005904543631232995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40142959e-14, -9.40142959e-14,  1.00000000e+00,  8.83868784e-27,
        1.00000000e+00,  9.40142959e-14, -1.00000000e+00,  0.00000000e+00,
        9.40142959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10071576, -0.09601069,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.87154891e-05, 2.00404959e-05,-4.90502485e+00,-7.18669658e-03,
 -1.28818490e-03,-1.22529067e-05]


--- 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,
  9.53640295e-02,-6.99128537e-02, 1.30426207e-01, 9.86994921e-01,
  3.32789149e-05, 6.53444287e-04,-1.60750110e-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, -0.71143438,  3.26908459, -0.4450844 ,-40.91009551,
 -28.62763455, -3.04742897]

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([  6.35538934,   3.05099841,   5.57515761,   3.05099841,
        43.45143186, -20.30076541,   5.57515761, -20.30076541,
        17.46495921,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005907641037617151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.39650038e-14, -9.39650038e-14,  1.00000000e+00,  8.82942193e-27,
        1.00000000e+00,  9.39650038e-14, -1.00000000e+00,  0.00000000e+00,
        9.39650038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10071238, -0.0960105 ,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.98546428e-06, 2.52978888e-05,-4.90501877e+00,-7.18566036e-03,
 -1.28739838e-03,-1.11648930e-05]


--- 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,
  9.53510313e-02,-6.98832825e-02, 1.30420006e-01, 9.86978057e-01,
 -1.53295966e-04, 5.01447516e-04,-1.60854093e-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 , -0.70462891,  3.21587379, -0.60599441,-40.26647707,
 -27.80785108, -3.22221326]

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([  6.3281508 ,   3.39952196,   5.3374847 ,   3.39952196,
        49.37444468, -27.41681324,   5.3374847 , -27.41681324,
        23.79031957,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005875020981082613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44867285e-14, -9.44867285e-14,  1.00000000e+00,  8.92774186e-27,
        1.00000000e+00,  9.44867285e-14, -1.00000000e+00,  0.00000000e+00,
        9.44867285e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10071001, -0.09601191,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.97537496e-05, 4.45230735e-05,-4.90507628e+00,-7.17946902e-03,
 -1.28346871e-03,-7.11191461e-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,
  9.53322720e-02,-6.98639768e-02, 1.30415689e-01, 9.86962416e-01,
 -2.59466023e-04, 3.29508076e-04,-1.60950342e-01]

qacc:
[ 0.79046518, 0.26451652, 0.77720617,-5.90012059, 0.29588302,-0.61466331,
  2.83339286,-4.34828715, 2.64932207,-0.62817635,-0.17343714, 7.45230556,
 -0.25147617, 0.32907717,-6.39189181,22.52981464,-1.44025765,-2.56635465,
  0.47109422,41.28098342,-3.37566523, 3.93340905]

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([ 6.37439264,  0.88790887,  6.31224994,  0.88790887, 38.29754168,
       -4.4904507 ,  6.31224994, -4.4904507 ,  7.0060392 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005930398071104653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68022134e-14, -1.87208854e-13,  1.00000000e+00,  8.76178872e-27,
        1.00000000e+00,  1.87208854e-13, -1.00000000e+00,  0.00000000e+00,
        4.68022134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1059697 , -0.04853422,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.33281516e-05, 7.70050011e-05,-4.90519357e+00,-7.16818754e-03,
 -1.27654004e-03,-2.77257822e-07]


--- 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,
  9.53079136e-02,-6.98546823e-02, 1.30412270e-01, 9.86947830e-01,
 -2.87230790e-04, 1.36326182e-04,-1.61039993e-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, -1.39979097, -2.5028233 ,  0.2246043 , 40.40007781,
  -4.17410284,  3.35107501]

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([  6.43071722,  -2.56751818,  -5.89592863,  -2.56751818,
        35.55909178, -12.68462287,  -5.89592863, -12.68462287,
        11.95452896,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005997856176063188
  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([ 0.10597489, -0.0485372 ,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.93238007e-05, 6.42925837e-05,-4.90514059e+00,-7.16368497e-03,
 -1.26073204e-03,-1.24483750e-06]


--- 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,
  9.52780897e-02,-6.98551827e-02, 1.30408895e-01, 9.86934146e-01,
 -2.38281668e-04,-7.90953207e-05,-1.61123952e-01]

qacc:
[ 6.34634566e+00,-5.75483410e-01, 7.92969744e-01, 1.94175494e+00,
  5.38359746e+00, 1.13428336e+00,-3.33830330e+00, 3.22013941e+00,
 -5.79984854e+00,-1.48311204e+00, 6.77456092e+00,-1.38378815e+01,
 -5.13468109e-01, 5.71829060e-01, 4.85839371e+00,-1.65475759e+01,
 -1.36635468e+00,-2.44871800e+00, 1.08314624e-02, 3.96467778e+01,
 -4.79854345e+00, 2.88354798e+00]

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([  6.44683568,  -2.85920521,  -5.77811698,  -2.85920521,
        43.4155502 , -18.29335432,  -5.77811698, -18.29335432,
        15.49899821,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006017165653676576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.22546502e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.22546502e-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([ 0.10597958, -0.04853845,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.34925621e-05, 6.04010359e-05,-4.90513261e+00,-7.16410386e-03,
 -1.24512297e-03,-2.13400395e-06]


--- 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,
  9.52429098e-02,-6.98652952e-02, 1.30404824e-01, 9.86921221e-01,
 -1.14036430e-04,-3.17526223e-04,-1.61202943e-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,
 -1.33901576e+00,-2.40303769e+00,-1.73840321e-01, 3.90101250e+01,
 -5.28893928e+00, 2.50664423e+00]

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([  6.43041728,  -3.21318299,  -5.57007374,  -3.21318299,
        52.0449056 , -26.31342147,  -5.57007374, -26.31342147,
        21.6097205 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005997496888982684
  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([ 0.10598387, -0.04853832,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.90327357e-06, 6.46307645e-05,-4.90516686e+00,-7.16937015e-03,
 -1.22948772e-03,-3.01809046e-06]


--- 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,
  9.52127839e-02,-6.98829274e-02, 1.30403029e-01, 9.86907954e-01,
  5.37814859e-05,-5.07353399e-04,-1.61283697e-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,  1.26350537, -1.87991761,  0.5691255 , 17.58356857,
  27.4960924 , -0.90114221]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006015570211572868
  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([ 0.08681046, -0.05465478,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.87768015e-06, 7.64848162e-05,-4.90524118e+00,-7.17941788e-03,
 -1.21365561e-03,-3.94825484e-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,
  9.51876076e-02,-6.99079146e-02, 1.30402673e-01, 9.86894285e-01,
  2.64977611e-04,-6.50064062e-04,-1.61366595e-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,  1.23742236, -1.83873982,  0.35954728, 17.60505455,
  26.7477708 , -1.10284651]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006028494853699273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.84162557e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.84162557e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08681234, -0.05465283,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.25330055e-06, 7.67135933e-05,-4.90521315e+00,-7.19230090e-03,
 -1.20232692e-03,-4.39067087e-07]


--- 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,
  9.51696540e-02,-6.99348511e-02, 1.30404827e-01, 9.86880834e-01,
  4.78436100e-04,-7.39417881e-04,-1.61447960e-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,
  1.80563592e+00,-4.87330219e-01, 6.27505017e-01,-3.18818052e+00,
  2.65115916e+01, 7.65861165e-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([ 6.44185549, -1.33985711, -6.30097493, -1.33985711, 51.23755113,
       -9.52548325, -6.30097493, -9.52548325,  8.46738116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006011199191952318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10311950e-07, -8.10311942e-07,  1.00000000e+00, -6.56605449e-13,
        1.00000000e+00,  8.10311942e-07, -1.00000000e+00,  0.00000000e+00,
       -8.10311950e-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([ 0.08288798, -0.06530295,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.05531576e-05, 8.03770074e-05,-4.90521295e+00,-7.20737447e-03,
 -1.19418482e-03, 3.27713381e-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,
  9.51491770e-02,-6.99484419e-02, 1.30406749e-01, 9.86866740e-01,
  6.01118724e-04,-8.72230609e-04,-1.61533016e-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,
 -6.30824956e-01, 3.33641993e+00,-5.81924739e-02,-4.12855157e+01,
 -2.87732921e+01,-1.82888806e+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([ 6.46918553,  3.47698138, -5.45536085,  3.47698138, 30.93812311,
       15.59530939, -5.45536085, 15.59530939, 16.40887639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006043945995637578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.88919337e-07,  5.88919233e-07,  1.00000000e+00,  3.46825924e-13,
        1.00000000e+00, -5.88919233e-07, -1.00000000e+00,  0.00000000e+00,
       -5.88919337e-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([ 0.09980399, -0.09538895,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.04123559e-05, 6.79421234e-05,-4.90517365e+00,-7.22213424e-03,
 -1.19121298e-03, 7.73893475e-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,
  9.51382980e-02,-6.99565549e-02, 1.30410027e-01, 9.86854045e-01,
  6.70302091e-04,-9.43460911e-04,-1.61609883e-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,  2.39949832,  1.36944332,  0.33940828,-31.36896565,
  26.0689475 ,  4.1588368 ]

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([ 6.51785304, -4.51425967,  4.70147508, -4.51425967, 24.08533186,
       16.86793182,  4.70147508, 16.86793182, 22.71409422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000610229270458798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54838484e-14, -2.72903090e-13,  1.00000000e+00,  1.24126828e-26,
        1.00000000e+00,  2.72903090e-13, -1.00000000e+00,  0.00000000e+00,
        4.54838484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07780476, -0.07983331,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.22611237e-05, 5.54133304e-05,-4.90511117e+00,-7.22983628e-03,
 -1.18721673e-03, 8.84365997e-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,
  9.51368116e-02,-6.99592835e-02, 1.30413835e-01, 9.86842675e-01,
  6.87726986e-04,-9.54038729e-04,-1.61679165e-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 ,  2.34813401,  1.34610902,  0.13211532,-30.43691529,
  25.74840068,  3.85303518]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006109372801823554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08622751e-14, -1.81724550e-13,  1.00000000e+00,  1.65119061e-26,
        1.00000000e+00,  1.81724550e-13, -1.00000000e+00,  0.00000000e+00,
        9.08622751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07780367, -0.07983082,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.95029048e-06, 2.73236188e-05,-4.90503510e+00,-7.23573387e-03,
 -1.18629053e-03, 1.26708878e-05]


--- 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,
  9.51445455e-02,-6.99567076e-02, 1.30417456e-01, 9.86832553e-01,
  6.54819192e-04,-9.04764686e-04,-1.61741351e-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,  2.30509324,  1.32611696, -0.04639422,-29.6706665 ,
  25.46634817,  3.60604629]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006079032948015789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56578799e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.56578799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07780177, -0.07982953,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.66062484e-06, 6.75210072e-06,-4.90500186e+00,-7.23773171e-03,
 -1.18803928e-03, 1.39659382e-05]


--- 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,
  9.51613571e-02,-6.99488949e-02, 1.30420280e-01, 9.86823603e-01,
  5.72739606e-04,-7.96316219e-04,-1.61796833e-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,  2.26941554,  1.30921394, -0.19958942,-29.04498908,
  25.22379296,  3.40566071]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006019038984332731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22259374e-14, -1.84451875e-13,  1.00000000e+00,  1.70112470e-26,
        1.00000000e+00,  1.84451875e-13, -1.00000000e+00,  0.00000000e+00,
        9.22259374e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07779924, -0.07982917,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.63436273e-06,-7.14496081e-06,-4.90500870e+00,-7.23594489e-03,
 -1.19250315e-03, 1.28384635e-05]


--- 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,
  9.51871296e-02,-6.99359017e-02, 1.30421780e-01, 9.86815740e-01,
  4.42425863e-04,-6.29255025e-04,-1.61845927e-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,  2.24022666,  1.29513194, -0.33070686,-28.53874752,
  25.02040681,  3.24212115]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005935987859310432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.8447676e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.8447676e-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([ 0.07779621, -0.07982954,  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:
[-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,
  1.89188988e-05,-1.50175599e-05,-4.90505349e+00,-7.23046580e-03,
 -1.19970810e-03, 9.37422970e-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,
  9.52100395e-02,-6.99100536e-02, 1.30420660e-01, 9.86806861e-01,
  2.25851501e-04,-5.03566010e-04,-1.61900942e-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,
 -7.15655844e-01, 3.21370927e+00,-6.55196861e-01,-3.92153474e+01,
 -2.73954533e+01,-2.96739191e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005877750118673808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.44428567e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.44428567e-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([ 0.1006574 , -0.09601989,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.41479351e-05,-1.73712553e-05,-4.90513468e+00,-7.22136796e-03,
 -1.20967097e-03, 3.63882727e-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,
  9.52338505e-02,-6.98807266e-02, 1.30421953e-01, 9.86797859e-01,
 -1.65137240e-05,-3.74554574e-04,-1.61956308e-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  ,  0.22528769,  0.86971036,  0.60331253,-12.99432698,
  -0.44855906, -0.17668282]

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([ 6.26899704, -1.49069695,  6.08918275, -1.49069695, 55.66564838,
       12.09282762,  6.08918275, 12.09282762,  9.22945035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005804162284615722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.8638664e-08,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.8638664e-08, -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([ 0.09365419, -0.07506822,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.98359795e-05, 5.52994452e-06,-4.90519153e+00,-7.20641533e-03,
 -1.21768408e-03, 1.99967196e-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,
  9.52625743e-02,-6.98586659e-02, 1.30424580e-01, 9.86788421e-01,
 -2.13649439e-04,-1.96740149e-04,-1.62013977e-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,  1.22818495, -1.81655327,  0.33350103, 18.36378114,
  27.74188243, -1.17996719]

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([ 6.29034522, -2.03006971,  5.95376016, -2.03006971, 61.09751878,
       18.68775021,  5.95376016, 18.68775021, 12.66235796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005829738843046994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76103242e-14,  9.52206483e-14,  1.00000000e+00, -4.53348594e-27,
        1.00000000e+00, -9.52206483e-14, -1.00000000e+00,  0.00000000e+00,
        4.76103242e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08683201, -0.05464143,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.87853900e-05, 1.21479634e-05,-4.90523118e+00,-7.19039781e-03,
 -1.22386481e-03,-4.76323925e-07]


--- 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,
  9.52883224e-02,-6.98472813e-02, 1.30428006e-01, 9.86779226e-01,
 -3.28553039e-04,-2.35470212e-05,-1.62069892e-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,
 -7.43905188e-01,-2.66902479e+00, 1.99912260e-01, 4.09474066e+01,
  4.38109122e+00, 8.76478009e-01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005821766817337011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20337073e-06,  1.20337082e-06,  1.00000000e+00,  1.44810122e-12,
        1.00000000e+00, -1.20337082e-06, -1.00000000e+00,  0.00000000e+00,
       -1.20337073e-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([ 0.10133661, -0.04720534,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.09968497e-05,-1.14909035e-05,-4.90521348e+00,-7.17745900e-03,
 -1.23197144e-03,-5.25912188e-06]


--- 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,
  9.53086372e-02,-6.98456507e-02, 1.30431594e-01, 9.86770747e-01,
 -3.64938151e-04, 1.24101450e-04,-1.62121389e-01]

qacc:
[-8.56929185e+00, 1.25202084e+00,-4.34429432e+00, 5.19702921e+00,
 -6.02124632e+00,-3.07081479e-01, 1.04093690e+00,-1.23895133e+00,
  8.71773025e-01, 8.15155268e-01,-4.97260869e+00, 1.39202401e+01,
 -4.07493539e-01, 3.90503952e-01,-3.54002857e+00, 1.15371617e+01,
 -1.35832988e+00,-2.43849568e+00, 4.02920331e-02, 4.08103859e+01,
 -6.24144448e+00, 2.23273712e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005855760159622497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.8959503e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.8959503e-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([ 0.10602781, -0.04855754,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.15138068e-05,-2.42142184e-05,-4.90512829e+00,-7.16879609e-03,
 -1.23889964e-03,-5.05559484e-06]


--- 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,
  9.53236360e-02,-6.98536057e-02, 1.30434619e-01, 9.86762939e-01,
 -3.24600971e-04, 2.46240400e-04,-1.62168851e-01]

qacc:
[ -2.22710726,  1.19038542, -7.31125215, 19.37222844, -3.73346638,
  -0.93516966,  4.72647427,-10.96178304, -2.38379264, -0.6960422 ,
   3.75838516, -9.35727589, -0.79686765,  0.90718051,  9.13016438,
 -31.21202265, -1.32900995, -2.39642353, -0.14081887, 39.92134811,
  -6.36764049,  2.04497758]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005857844267552065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.7381894e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.7381894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10602957, -0.04855872,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.21160313e-06,-2.25521550e-05,-4.90506686e+00,-7.16479188e-03,
 -1.24515700e-03,-3.87564553e-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,
  9.53334178e-02,-6.98710049e-02, 1.30436455e-01, 9.86755754e-01,
 -2.09026580e-04, 3.42934000e-04,-1.62212578e-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, -1.30425873, -2.36102557, -0.29712456, 39.18350907,
  -6.45438119,  1.89906646]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826646255129575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76355941e-14,  9.52711883e-14,  1.00000000e+00, -4.53829966e-27,
        1.00000000e+00, -9.52711883e-14, -1.00000000e+00,  0.00000000e+00,
        4.76355941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10603152, -0.04855859,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.22587657e-05,-1.36948084e-05,-4.90504759e+00,-7.16574085e-03,
 -1.25104880e-03,-2.92421873e-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,
  9.53380654e-02,-6.98977306e-02, 1.30436564e-01, 9.86749136e-01,
 -1.94309513e-05, 4.14260763e-04,-1.62252797e-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, -1.28352158, -2.331625  , -0.43160502, 38.5773095 ,
  -6.51231184,  1.78632052]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005769108807115036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62213629e-14, -9.62213629e-14,  1.00000000e+00,  9.25855068e-27,
        1.00000000e+00,  9.62213629e-14, -1.00000000e+00,  0.00000000e+00,
        9.62213629e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10603364, -0.04855741,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.44820195e-05, 1.98868472e-06,-4.90506813e+00,-7.17154905e-03,
 -1.25650840e-03,-2.18711513e-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,
  9.53382432e-02,-6.99223498e-02, 1.30439164e-01, 9.86742462e-01,
  1.60757902e-04, 4.49227614e-04,-1.62293210e-01]

qacc:
[ -7.50992373, -2.32789561, 11.89104143,-28.36886818,  2.15813671,
   1.38501568, -5.04747653,  6.33605708,  1.31752852,  1.31545479,
  -7.5101115 , 17.91998946, -0.37177574,  0.39654732, -0.58934236,
   0.83808193, -1.11748327,  0.52661055,  0.62257906, -1.69127586,
 -18.70218079, -0.10248055]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005694950418966421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74743363e-14, -9.06374376e-07,  1.00000000e+00,  8.83482407e-20,
        1.00000000e+00,  9.06374376e-07, -1.00000000e+00,  0.00000000e+00,
        9.74743363e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335117, -0.07216477,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.08867450e-05, 2.42547278e-05,-4.90512670e+00,-7.18213879e-03,
 -1.26148797e-03,-1.65022163e-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,
  9.53355020e-02,-6.99335300e-02, 1.30440988e-01, 9.86734715e-01,
  2.48427325e-04, 4.40479013e-04,-1.62340216e-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, -0.7297092 ,  3.3597576 , -0.19405871,-42.09749765,
 -29.07587238, -3.35686922]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005770126635729067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62043898e-14, -1.92408780e-13,  1.00000000e+00,  1.85105693e-26,
        1.00000000e+00,  1.92408780e-13, -1.00000000e+00,  0.00000000e+00,
        9.62043898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10063379, -0.09602997,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.41507987e-05, 2.52205399e-05,-4.90510473e+00,-7.19241178e-03,
 -1.26548918e-03,-3.84876877e-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,
  9.53298861e-02,-6.99315402e-02, 1.30441271e-01, 9.86725878e-01,
  2.45526895e-04, 3.89475908e-04,-1.62394059e-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, -0.71869784,  3.29247641, -0.38504276,-41.25276551,
 -28.19916741, -3.47680335]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005794279419610027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58033730e-14, -9.58033730e-14,  1.00000000e+00,  9.17828627e-27,
        1.00000000e+00,  9.58033730e-14, -1.00000000e+00,  0.00000000e+00,
        9.58033730e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1006315 , -0.09602899,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.09855276e-05, 1.06419306e-05,-4.90502470e+00,-7.19732939e-03,
 -1.26713658e-03,-6.28141367e-06]


--- 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,
  9.53214329e-02,-6.99166081e-02, 1.30439352e-01, 9.86715912e-01,
  1.53693322e-04, 2.97409332e-04,-1.62454909e-01]

qacc:
[ -2.84282024, -0.17926594,  0.29519829, -0.21799478,  2.33686138,
  -3.79620284, 16.65415883,-31.40947965,  2.13876897, -0.34622956,
   3.93724514,-12.28696282, -1.24837558,  1.73034221,  8.21127577,
 -28.02561611, -0.70934088,  3.23561509, -0.55069501,-40.54058195,
 -27.48094225, -3.56044096]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005780235755179081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60361369e-14, -9.60361369e-14,  1.00000000e+00,  9.22293959e-27,
        1.00000000e+00,  9.60361369e-14, -1.00000000e+00,  0.00000000e+00,
        9.60361369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10062997, -0.0960297 ,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.11933626e-06, 1.07597883e-05,-4.90501026e+00,-7.19701146e-03,
 -1.26579491e-03,-5.72031161e-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,
  9.53101735e-02,-6.98889238e-02, 1.30434657e-01, 9.86704762e-01,
 -2.57133822e-05, 1.65243485e-04,-1.62522872e-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, -0.7015286 ,  3.18801936, -0.69406084,-39.9465912 ,
 -26.89700816, -3.61581264]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005735653682346076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67826063e-14, -9.67826063e-14,  1.00000000e+00,  9.36687289e-27,
        1.00000000e+00,  9.67826063e-14, -1.00000000e+00,  0.00000000e+00,
        9.67826063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10062904, -0.09603177,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.56206322e-05, 2.47781914e-05,-4.90505727e+00,-7.19154231e-03,
 -1.26156863e-03,-2.34804716e-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,
  9.52943084e-02,-6.98591141e-02, 1.30432624e-01, 9.86693473e-01,
 -2.14634813e-04, 7.33823589e-07,-1.62591344e-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, -1.15143016,  0.53137599,  0.66560303, -2.06576837,
 -16.73006014, -0.26337847]

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([ 6.15899771,  1.15766217,  6.0492207 ,  1.15766217, 49.52997683,
       -8.30006779,  6.0492207 , -8.30006779,  7.74741297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005672241817177789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.22040712e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.22040712e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335582, -0.07216677,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.98502026e-05, 5.20073825e-05,-4.90516257e+00,-7.18099315e-03,
 -1.25453719e-03, 3.69669814e-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,
  9.52728243e-02,-6.98392800e-02, 1.30431441e-01, 9.86683112e-01,
 -3.25054027e-04,-1.86644979e-04,-1.62653912e-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,-1.40476526,-2.49392832,
  0.21254318,40.58807328,-4.90115957, 2.98577422]

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([ 6.2328032 ,  0.69764242,  6.19363631,  0.69764242, 53.38549679,
       -5.31121262,  6.19363631, -5.31121262,  6.83105066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005760784029121141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.63604102e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.63604102e-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([ 0.10605712, -0.04856189,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.83999199e-05, 6.22662696e-05,-4.90520543e+00,-7.17067264e-03,
 -1.24280551e-03, 7.59506012e-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,
  9.52483873e-02,-6.98301165e-02, 1.30430776e-01, 9.86673108e-01,
 -3.55646179e-04,-3.77042831e-04,-1.62714193e-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, -0.73820977, -2.66762206,  0.12950726, 39.62780858,
   5.00233106,  1.14915679]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806197346496372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.56067249e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.56067249e-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([ 0.10127318, -0.04717939,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.44096797e-05, 4.76880974e-05,-4.90515731e+00,-7.16603188e-03,
 -1.22749269e-03, 6.70649161e-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,
  9.52289367e-02,-6.98283775e-02, 1.30432080e-01, 9.86662793e-01,
 -3.42013475e-04,-5.18724163e-04,-1.62776373e-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,  1.2466095 , -1.85616293,  0.49222706, 17.85388992,
  27.63192591, -0.96178977]

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([  6.29506398,  -4.85053113,  -4.01250275,  -4.85053113,
        29.58213605, -28.15067678,  -4.01250275, -28.15067678,
        40.32513015,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005835391504688814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90256819e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90256819e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08686283, -0.05462385,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.90556876e-06, 3.92094685e-05,-4.90512539e+00,-7.16635758e-03,
 -1.21333265e-03, 5.50981934e-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,
  9.52143834e-02,-6.98339099e-02, 1.30434584e-01, 9.86652129e-01,
 -2.84569269e-04,-6.13203389e-04,-1.62840779e-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, 1.22431751,-1.81781457,
  0.30009218,17.77125872,26.85230917,-1.12974005]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005849303170582798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89804322e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89804322e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08686492, -0.05462266,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.75925661e-06, 3.08921025e-05,-4.90507025e+00,-7.16921959e-03,
 -1.20382811e-03, 6.32045733e-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,
  9.52046510e-02,-6.98465858e-02, 1.30437626e-01, 9.86641081e-01,
 -1.83679762e-04,-6.61724989e-04,-1.62907663e-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,  1.20522319, -1.78588913,  0.13426547, 17.68999751,
  26.20966351, -1.2602842 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005828891191527324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52344956e-14,  1.90468991e-13,  1.00000000e+00, -1.81392183e-26,
        1.00000000e+00, -1.90468991e-13, -1.00000000e+00,  0.00000000e+00,
        9.52344956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08686612, -0.05462101,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.59718324e-06, 2.58784374e-05,-4.90504299e+00,-7.17430434e-03,
 -1.19755389e-03, 7.41852999e-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,
  9.51996749e-02,-6.98663002e-02, 1.30440634e-01, 9.86629608e-01,
 -3.96592703e-05,-6.65305770e-04,-1.62977216e-01]

qacc:
[ 4.84226952e+00,-2.17820963e+00, 9.94910416e+00,-2.04451518e+01,
  5.16844337e+00,-6.60338808e-02, 1.43493765e+00,-4.55679401e+00,
 -7.02924665e-01, 2.95308915e+00,-1.40301117e+01, 2.89397331e+01,
  4.67170203e-02,-1.95949423e-01,-5.55685757e+00, 1.93855059e+01,
  1.18906724e+00,-1.75962811e+00,-8.24304764e-03, 1.76158768e+01,
  2.56835174e+01,-1.36144420e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000578117490688923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80102679e-14,  9.60205358e-14,  1.00000000e+00, -4.60997165e-27,
        1.00000000e+00, -9.60205358e-14, -1.00000000e+00,  0.00000000e+00,
        4.80102679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08686662, -0.05461898,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.41257360e-05, 2.38973589e-05,-4.90504183e+00,-7.18161390e-03,
 -1.19441911e-03, 8.78002906e-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,
  9.51994011e-02,-6.98929681e-02, 1.30443121e-01, 9.86617668e-01,
  1.47231756e-04,-6.24769953e-04,-1.63049582e-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, 1.17558891,-1.73835007,
 -0.13025887,17.55272427,25.25673206,-1.43947371]

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: -0.0005712143589817892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.7180945e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.7180945e-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([ 0.08686657, -0.05461667,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.77968909e-05, 2.47593619e-05,-4.90506540e+00,-7.19114740e-03,
 -1.19435073e-03, 1.03866627e-05]


--- 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,
  9.52037855e-02,-6.99265217e-02, 1.30444671e-01, 9.86605211e-01,
  3.76786897e-04,-5.40778221e-04,-1.63124868e-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,
  1.16453766e+00,-1.72145109e+00,-2.34388246e-01, 1.75029762e+01,
  2.49149936e+01,-1.49924292e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005626878263088747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.86535493e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.86535493e-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([ 0.0868661 , -0.05461414,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.45934393e-05, 2.83412428e-05,-4.90511266e+00,-7.20290246e-03,
 -1.19729043e-03, 1.22253450e-05]


--- 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,
  9.52052464e-02,-6.99463325e-02, 1.30446083e-01, 9.86592093e-01,
  5.14405298e-04,-5.04339024e-04,-1.63203932e-01]

qacc:
[-9.34362138e+00, 9.79414657e-01,-3.85161482e+00, 6.01348808e+00,
 -3.01368487e+00,-9.33923077e-01, 2.17130239e+00, 7.37509678e-01,
  6.88275686e+00,-6.67393118e-01, 2.23867119e+00,-2.26294745e+00,
  1.16078596e-01,-2.95838293e-01,-2.49852701e+00, 6.67976140e+00,
 -7.30877622e-01, 3.43570790e+00,-3.45312363e-02,-4.14750299e+01,
 -3.09572652e+01,-1.88366662e+00]

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([ 6.12674481,  1.77296448, -5.86460561,  1.77296448, 45.94928083,
       12.03899231, -5.86460561, 12.03899231,  9.76632557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005633501039556815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85375716e-14, -9.85375716e-14,  1.00000000e+00,  9.70965303e-27,
        1.00000000e+00,  9.85375716e-14, -1.00000000e+00,  0.00000000e+00,
        9.85375716e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10059491, -0.09604186,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.45126648e-05, 3.45747902e-05,-4.90518287e+00,-7.21687633e-03,
 -1.20319212e-03, 1.42876497e-05]


--- 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,
  9.52038194e-02,-6.99527168e-02, 1.30446515e-01, 9.86578219e-01,
  5.61817601e-04,-5.13283434e-04,-1.63287594e-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,
 -7.21954987e-01, 3.35661502e+00,-2.45033728e-01,-4.07958856e+01,
 -2.97499215e+01,-2.29495626e+00]

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([ 6.17842296,  1.03525157,  6.09107252,  1.03525157, 44.96162631,
       -6.5916753 ,  6.09107252, -6.5916753 ,  7.29875804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005695559227257285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.74639171e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.74639171e-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([ 0.10058985, -0.09604048,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.62426109e-05, 1.59053558e-05,-4.90506149e+00,-7.22389829e-03,
 -1.20949951e-03, 9.30461402e-06]


--- 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,
  9.51995365e-02,-6.99459429e-02, 1.30445234e-01, 9.86563499e-01,
  5.20511425e-04,-5.65849931e-04,-1.63376473e-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, -0.71398395,  3.28954877, -0.42818035,-40.20348772,
 -28.76329703, -2.60828721]

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([  6.19324489,   1.4507562 ,   6.02092923,   1.4507562 ,
        54.65835488, -11.67777533,   6.02092923, -11.67777533,
         9.00703066,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005713344004203702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.71605266e-14, -9.71605266e-14,  1.00000000e+00,  9.44016794e-27,
        1.00000000e+00,  9.71605266e-14, -1.00000000e+00,  0.00000000e+00,
        9.71605266e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10058612, -0.09604081,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.06223450e-05, 1.13039400e-05,-4.90500789e+00,-7.22583679e-03,
 -1.21236076e-03, 7.53675312e-06]


--- 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,
  9.51924255e-02,-6.99262364e-02, 1.30441604e-01, 9.86547835e-01,
  3.91749540e-04,-6.60613925e-04,-1.63471036e-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, -0.70703438,  3.23316329, -0.58703411,-39.69462912,
 -27.96110439, -2.84483876]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005695302269901753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74683144e-14, -1.94936629e-13,  1.00000000e+00,  1.90001446e-26,
        1.00000000e+00,  1.94936629e-13, -1.00000000e+00,  0.00000000e+00,
        9.74683144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10058344, -0.09604252,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.35298006e-05, 2.02607116e-05,-4.90501753e+00,-7.22273410e-03,
 -1.21198724e-03, 8.75570853e-06]


--- 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,
  9.51825100e-02,-6.98937851e-02, 1.30435077e-01, 9.86531124e-01,
  1.76588748e-04,-7.96430080e-04,-1.63571625e-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,
 -7.01120367e-01, 3.18619893e+00,-7.24571707e-01,-3.92646936e+01,
 -2.73133465e+01,-3.02108363e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005648650603530814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82732959e-14, -1.96546592e-13,  1.00000000e+00,  1.93152814e-26,
        1.00000000e+00,  1.96546592e-13, -1.00000000e+00,  0.00000000e+00,
        9.82732959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1005816 , -0.09604533,  0.06198255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.70707878e-05, 4.22762584e-05,-4.90508692e+00,-7.21463194e-03,
 -1.20853882e-03, 1.27857738e-05]


--- 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,
  9.51776086e-02,-6.98691072e-02, 1.30432123e-01, 9.86514369e-01,
  6.96374207e-06,-8.76821154e-04,-1.63672329e-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, 1.25352151,-1.94334955,
  0.89343435,17.92820831,31.06343769,-0.08380875]

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([ 6.21224356, -1.71427857,  5.97103166, -1.71427857, 41.21237006,
       10.04850925,  5.97103166, 10.04850925,  9.0971628 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005736132404113858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.67745291e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.67745291e-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([ 0.08689067, -0.05460832,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.06238144e-05, 7.68733552e-05,-4.90521343e+00,-7.20156875e-03,
 -1.20213571e-03, 1.94937976e-05]


--- 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,
  9.51776381e-02,-6.98519955e-02, 1.30431767e-01, 9.86497486e-01,
 -1.17704145e-04,-9.04601800e-04,-1.63773862e-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, 1.23272256,-1.89155275,
  0.64952524,17.8696233 ,29.62953142,-0.43943909]

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([ 6.2904379 ,  0.50883847, -6.26982395,  0.50883847, 42.9593938 ,
        2.97593292, -6.26982395,  2.97593292,  6.53195492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005829849867939885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76094175e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.76094175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689719, -0.05460865,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.26858434e-05, 4.69396211e-05,-4.90511664e+00,-7.19340919e-03,
 -1.19387353e-03, 1.67699714e-05]


--- 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,
  9.51825253e-02,-6.98422738e-02, 1.30433159e-01, 9.86480403e-01,
 -1.97951667e-04,-8.82060780e-04,-1.63876775e-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,  1.21443971, -1.8474888 ,  0.4367218 , 17.78896686,
  28.4585366 , -0.71381013]

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([ 6.32711096,  0.29332516, -6.32030802,  0.29332516, 53.77916786,
        2.20224744, -6.32030802,  2.20224744,  6.42931714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005873775638435413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72533807e-14, -9.45067613e-14,  1.00000000e+00,  4.46576397e-27,
        1.00000000e+00,  9.45067613e-14, -1.00000000e+00,  0.00000000e+00,
        4.72533807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869019 , -0.05460822,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.18782594e-05, 2.18325734e-05,-4.90505328e+00,-7.18740395e-03,
 -1.18928781e-03, 1.44947989e-05]


--- 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,
  9.51922073e-02,-6.98397934e-02, 1.30435558e-01, 9.86463055e-01,
 -2.34263584e-04,-8.11052766e-04,-1.63981488e-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,
  1.19868291e+00,-1.81033232e+00, 2.52158626e-01, 1.76986793e+01,
  2.75059438e+01,-9.24335561e-01]

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([ 6.32990537e+00,  1.70230358e-02, -6.32988248e+00,  1.70230358e-02,
        6.71412998e+01,  1.63540879e-01, -6.32988248e+00,  1.63540879e-01,
        6.33034518e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005877122287930858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72264728e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.72264728e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08690517, -0.05460716,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.81458288e-05, 8.76269518e-07,-4.90502003e+00,-7.18357723e-03,
 -1.18819656e-03, 1.26063539e-05]


--- 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,
  9.52066307e-02,-6.98444301e-02, 1.30438330e-01, 9.86445382e-01,
 -2.27067404e-04,-6.93073415e-04,-1.64088322e-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,  1.18537784, -1.77930262,  0.09286985, 17.60745258,
  26.73512243, -1.08463679]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847826855709948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89852239e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89852239e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869073 , -0.05460559,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.14555540e-05,-1.64249979e-05,-4.90501435e+00,-7.18194161e-03,
 -1.19045501e-03, 1.10551783e-05]


--- 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,
  9.52257518e-02,-6.98560817e-02, 1.30440925e-01, 9.86427323e-01,
 -1.76731330e-04,-5.29320658e-04,-1.64197515e-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,  1.17440187, -1.75368335, -0.04403875, 17.52127192,
  26.11599382, -1.20536723]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005792687323568912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79148521e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.79148521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08690853, -0.05460362,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.21643707e-06,-3.04309539e-05,-4.90503437e+00,-7.18250216e-03,
 -1.19594852e-03, 9.80268196e-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,
  9.52495353e-02,-6.98746645e-02, 1.30442875e-01, 9.86408821e-01,
 -8.35643071e-05,-3.20744694e-04,-1.64309245e-01]

qacc:
[ 2.38117650e+00, 1.01783210e+00,-2.10103548e+00,-2.81524857e+00,
 -2.13104641e+00, 1.24319017e-01, 7.33969066e-01,-4.86507123e+00,
 -1.29585707e+00,-1.89973874e+00, 7.83868832e+00,-1.39035969e+01,
 -6.31679725e-02,-2.24340716e-02,-4.83875692e+00, 1.48447415e+01,
  1.16560759e+00,-1.73283015e+00,-1.61293115e-01, 1.74441696e+01,
  2.56238928e+01,-1.29485628e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005717493271685664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70900158e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.70900158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08690905, -0.05460134,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.08936024e-05,-4.13966017e-05,-4.90507869e+00,-7.18525926e-03,
 -1.20458686e-03, 8.81956565e-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,
  9.52779542e-02,-6.99001121e-02, 1.30443779e-01, 9.86389811e-01,
  5.21826128e-05,-6.80887537e-05,-1.64423637e-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, 1.15883793,-1.71617121,
 -0.26140287,17.3787714 ,25.23860475,-1.35961256]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000562714727772709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86488330e-14,  9.86488330e-14,  1.00000000e+00, -9.73159226e-27,
        1.00000000e+00, -9.86488330e-14, -1.00000000e+00,  0.00000000e+00,
        9.86488330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08690902, -0.05459883,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -5.66047093e-05,-4.94944983e-05,-4.90514631e+00,-7.19021058e-03,
 -1.21629964e-03, 8.08438918e-06]


--- 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,
  9.53036172e-02,-6.99118052e-02, 1.30444345e-01, 9.86370489e-01,
  9.79098306e-05, 1.34875624e-04,-1.64539449e-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,
 -6.88966868e-01, 3.43859978e+00,-8.45215638e-02,-4.03120656e+01,
 -3.19083578e+01,-7.21424868e-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([ 6.074205  ,  1.75701187, -5.81454002,  1.75701187, 33.43433215,
        8.26756166, -5.81454002,  8.26756166,  8.57246005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005570313659883086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96553419e-14, -9.96553419e-14,  1.00000000e+00,  9.93118717e-27,
        1.00000000e+00,  9.96553419e-14, -1.00000000e+00,  0.00000000e+00,
        9.96553419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10052959, -0.09606534,  0.06198279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.53875438e-05,-5.48307449e-05,-4.90523653e+00,-7.19735234e-03,
 -1.23103271e-03, 7.58233092e-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,
  9.53265514e-02,-6.99100588e-02, 1.30443761e-01, 9.86350664e-01,
  5.48887132e-05, 2.90905972e-04,-1.64658069e-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, -0.6821915 ,  3.35989137, -0.28769124,-39.90790609,
 -30.44857565, -1.42985233]

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([ 6.1208652 , -0.06484506,  6.12052171, -0.06484506, 34.43552741,
        0.29998519,  6.12052171,  0.29998519,  6.12404345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005626434981669398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86613218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.86613218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10052229, -0.09606512,  0.06198262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.40520969e-05,-5.81369039e-05,-4.90511819e+00,-7.19647311e-03,
 -1.24822790e-03,-1.13947633e-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,
  9.53467837e-02,-6.98951384e-02, 1.30441319e-01, 9.86330165e-01,
 -7.57679409e-05, 4.02236062e-04,-1.64780574e-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, -0.67548107,  3.29347343, -0.46444559,-39.53897232,
 -29.26002311, -1.98366194]

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([ 6.1324211 ,  0.24489531,  6.12752927,  0.24489531, 42.96474789,
       -1.47205565,  6.12752927, -1.47205565,  6.19125388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005640321624971745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84184146e-14, -9.84184146e-14,  1.00000000e+00,  9.68618434e-27,
        1.00000000e+00,  9.84184146e-14, -1.00000000e+00,  0.00000000e+00,
        9.84184146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10051679, -0.09606632,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.30276113e-05,-4.96285135e-05,-4.90506827e+00,-7.19075761e-03,
 -1.26177427e-03,-6.65473531e-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,
  9.53613072e-02,-6.98901533e-02, 1.30439882e-01, 9.86310973e-01,
 -1.25805145e-04, 4.93689062e-04,-1.64895136e-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, -1.42719329, -2.48379475,  0.25145168, 41.39482924,
  -3.16099058,  4.04094111]

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([ 6.15563351,  0.71913454,  6.1134826 ,  0.71913454, 31.69243475,
       -3.00391723,  6.1134826 , -3.00391723,  6.50898704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005668202430463981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79343132e-14, -2.93802940e-13,  1.00000000e+00,  2.87733891e-26,
        1.00000000e+00,  2.93802940e-13, -1.00000000e+00,  0.00000000e+00,
        9.79343132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10615453, -0.04861523,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.75503893e-05,-2.92240187e-05,-4.90508216e+00,-7.18017914e-03,
 -1.27195687e-03,-9.19262904e-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,
  9.53702771e-02,-6.98949114e-02, 1.30438623e-01, 9.86292920e-01,
 -9.73209605e-05, 5.64027058e-04,-1.65002874e-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, -1.38842458, -2.43581131,  0.04424531, 40.4625213 ,
  -3.93979284,  3.47713659]

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([  6.19775219,  -3.66279246,  -4.99960835,  -3.66279246,
        29.13835867, -16.80665256,  -4.99960835, -16.80665256,
        18.51057272,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005718751177207215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70686598e-14, -9.70686598e-14,  1.00000000e+00,  9.42232471e-27,
        1.00000000e+00,  9.70686598e-14, -1.00000000e+00,  0.00000000e+00,
        9.70686598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10615968, -0.04861901,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.76771069e-05,-2.47457710e-05,-4.90502620e+00,-7.17591382e-03,
 -1.27193794e-03,-8.51780378e-06]


--- 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,
  9.53738232e-02,-6.99092492e-02, 1.30436820e-01, 9.86275861e-01,
  7.93916382e-06, 6.12314926e-04,-1.65104669e-01]

qacc:
[ 2.42789281e+00,-1.47082903e-01, 3.83585703e-02, 2.27867955e+00,
 -2.16367984e+00, 2.71728919e-01,-2.02524490e+00, 5.52755708e+00,
 -7.51339731e-01, 1.70015041e+00,-6.63570912e+00, 1.05591699e+01,
  1.50457534e-01,-4.87080704e-01, 9.97258692e-01,-4.42376230e+00,
 -1.35591736e+00,-2.39493139e+00,-1.35768015e-01, 3.96793231e+01,
 -4.54038724e+00, 3.03322490e+00]

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([  6.20582017,  -3.9063058 ,  -4.82213428,  -3.9063058 ,
        33.94451036, -22.47050788,  -4.82213428, -22.47050788,
        24.40868847,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005728428667974572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.69046739e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.69046739e-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([ 0.10616429, -0.048621  ,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.36179161e-05,-1.25667195e-05,-4.90501238e+00,-7.17663274e-03,
 -1.27217927e-03,-7.88145674e-06]


--- 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,
  9.53746223e-02,-6.99100748e-02, 1.30434339e-01, 9.86258118e-01,
  2.07916975e-05, 6.13699585e-04,-1.65210617e-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, -0.68678841,  3.37804897, -0.1695702 ,-41.69644459,
 -30.7580207 , -2.13268784]

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([ 6.22124811, -1.21012048, -6.10242055, -1.21012048, 47.14414676,
       -8.11508111, -6.10242055, -8.11508111,  7.83048264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005746930228116287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65927008e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.65927008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10049509, -0.09606472,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.73708626e-05, 6.80282261e-06,-4.90503843e+00,-7.18224800e-03,
 -1.27245863e-03,-7.33586455e-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,
  9.53727011e-02,-6.98976605e-02, 1.30430402e-01, 9.86239563e-01,
 -5.69323804e-05, 5.70367982e-04,-1.65321494e-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, -0.68004293,  3.30998699, -0.36403243,-40.97063789,
 -29.53279923, -2.52490593]

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([  6.2475342 ,   2.15562092,   5.86387091,   2.15562092,
        39.38084649, -12.18015576,   5.86387091, -12.18015576,
        10.72508818,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005778441804230317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.60659519e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.60659519e-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([ 0.10049013, -0.09606353,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.99051789e-06, 8.85103735e-06,-4.90500042e+00,-7.18163105e-03,
 -1.27664025e-03,-8.93275257e-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,
  9.53651261e-02,-6.98951454e-02, 1.30427118e-01, 9.86222207e-01,
 -5.62498104e-05, 5.06582674e-04,-1.65425207e-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, -1.41345697, -2.47480435,  0.16318572, 40.35257865,
  -3.60552041,  3.65392304]

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([ 6.25975152,  0.89378091,  6.19561496,  0.89378091, 31.80483337,
       -3.68513966,  6.19561496, -3.68513966,  6.79137066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005793083594064358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79115745e-14,  9.58231490e-14,  1.00000000e+00,  4.59103794e-27,
        1.00000000e+00, -9.58231490e-14, -1.00000000e+00,  0.00000000e+00,
       -4.79115745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10617945, -0.04862716,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.93178301e-05, 2.46840469e-05,-4.90502845e+00,-7.17590215e-03,
 -1.27746302e-03,-7.41636533e-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,
  9.53520360e-02,-6.99023352e-02, 1.30423688e-01, 9.86205884e-01,
  2.11585884e-05, 4.21192797e-04,-1.65522737e-01]

qacc:
[-8.21884262e+00, 1.06499594e+00,-5.87672845e+00, 1.31439052e+01,
  1.67559000e+00,-2.25839641e+00, 8.75250010e+00,-1.44566026e+01,
  5.36982792e+00, 1.86511887e+00,-4.56750399e+00, 1.40281002e+00,
  3.96202538e-01,-6.03568249e-01,-6.91487812e+00, 2.26439465e+01,
 -1.37877801e+00,-2.42622099e+00,-3.64070437e-02, 3.96197916e+01,
 -4.30769572e+00, 3.15286876e+00]

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([  6.27924216,  -3.02931773,  -5.50019237,  -3.02931773,
        38.47914145, -17.73460261,  -5.50019237, -17.73460261,
        16.04685437,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005816437341963354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.8631522e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.8631522e-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([ 0.10618458, -0.048629  ,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.56815253e-06, 2.89162411e-05,-4.90501776e+00,-7.17656735e-03,
 -1.26944760e-03,-7.57073013e-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,
  9.53361903e-02,-6.98961284e-02, 1.30419297e-01, 9.86188732e-01,
  6.25533315e-06, 2.90078980e-04,-1.65625181e-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, -0.68889026,  3.34914507, -0.24035812,-41.73392887,
 -30.18632523, -2.51086203]

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([ 6.30611925, -1.14224421, -6.20180765, -1.14224421, 47.29150037,
       -7.54865627, -6.20180765, -7.54865627,  7.69642501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005848633856083696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49130217e-14, -9.49130217e-14,  1.00000000e+00,  9.00848170e-27,
        1.00000000e+00,  9.49130217e-14, -1.00000000e+00,  0.00000000e+00,
        9.49130217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10047644, -0.09606033,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.26277408e-05, 4.08559670e-05,-4.90504800e+00,-7.18209186e-03,
 -1.26151248e-03,-7.74596031e-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,
  9.53176117e-02,-6.98767799e-02, 1.30413193e-01, 9.86170632e-01,
 -9.90951662e-05, 1.15142639e-04,-1.65733101e-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, -0.68325111,  3.28541612, -0.42820393,-40.96917296,
 -29.09869078, -2.79126547]

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([  6.31574963,   2.85879467,   5.63169481,   2.85879467,
        40.36746455, -17.28553558,   5.63169481, -17.28553558,
        15.09033678,   0.        ,   0.        ,   0.        ,
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         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005860168564556234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42089303e-13, -4.73631011e-14,  1.00000000e+00, -6.72979004e-27,
        1.00000000e+00,  4.73631011e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42089303e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10047243, -0.09605967,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16632804e-05, 4.97022126e-05,-4.90506478e+00,-7.18111098e-03,
 -1.25716701e-03,-4.44237927e-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,
  9.52932670e-02,-6.98674428e-02, 1.30408189e-01, 9.86153705e-01,
 -1.25589877e-04,-8.04747601e-05,-1.65833796e-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, -1.44150406, -2.50283192,  0.27495145, 40.59604205,
  -3.66344414,  3.66306044]

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([ 6.3645864 ,  0.95166743,  6.29303497,  0.95166743, 34.11680775,
       -4.19684387,  6.29303497, -4.19684387,  6.99925627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005918654794164618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68950743e-14, -9.37901485e-14,  1.00000000e+00,  4.39829598e-27,
        1.00000000e+00,  9.37901485e-14, -1.00000000e+00,  0.00000000e+00,
        4.68950743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10620051, -0.04863524,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.48279891e-05, 7.25230512e-05,-4.90514511e+00,-7.17497806e-03,
 -1.24956895e-03, 1.86285103e-06]


--- 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,
  9.52633005e-02,-6.98678967e-02, 1.30403406e-01, 9.86137770e-01,
 -7.49862954e-05,-2.97997602e-04,-1.65928309e-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,-1.40544371,-2.44774693,
  0.05539433,39.83202582,-4.40866401, 3.12607355]

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([  6.39269949,  -2.7236459 ,  -5.7834557 ,  -2.7236459 ,
        38.52722423, -15.13335128,  -5.7834557 , -15.13335128,
        13.51956143,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000595232165186213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32596632e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.32596632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10620574, -0.04863719,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.62192958e-05, 6.92405719e-05,-4.90513718e+00,-7.17559326e-03,
 -1.23337659e-03, 9.26276390e-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,
  9.52383298e-02,-6.98760091e-02, 1.30401300e-01, 9.86121613e-01,
  1.94120262e-05,-4.65229473e-04,-1.66023938e-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,  1.24893018, -1.91464934,  0.66922069, 17.42130134,
  28.43031541, -0.57351162]

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([  6.4445518 ,  -5.57172702,  -3.23853454,  -5.57172702,
        19.59397219, -22.62288078,  -3.23853454, -22.62288078,
        45.36601902,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
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         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006014429438674224
  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([ 0.08697529, -0.05457137,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.28574694e-06, 7.42977392e-05,-4.90517209e+00,-7.18106253e-03,
 -1.21725657e-03, 1.88373221e-08]


--- 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,
  9.52182550e-02,-6.98915973e-02, 1.30400980e-01, 9.86105158e-01,
  1.57411210e-04,-5.84013299e-04,-1.66121195e-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,  1.22398277, -1.86892813,  0.44641952, 17.47573277,
  27.50714095, -0.83784759]

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([ 6.47047054,  2.36674956, -6.02208316,  2.36674956, 59.90730803,
       21.00130609, -6.02208316, 21.00130609, 14.72423102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000604548597631191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59112398e-14, -9.18224795e-14,  1.00000000e+00,  4.21568387e-27,
        1.00000000e+00,  9.18224795e-14, -1.00000000e+00,  0.00000000e+00,
        4.59112398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08697841, -0.0545696 ,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.05570832e-06, 6.64386143e-05,-4.90512785e+00,-7.18956428e-03,
 -1.20646029e-03, 2.32656286e-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,
  9.52029898e-02,-6.99145093e-02, 1.30401676e-01, 9.86088337e-01,
  3.38813872e-04,-6.55863181e-04,-1.66220476e-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,  1.2024121 , -1.83096718,  0.25393116, 17.50127377,
  26.74575502, -1.04478973]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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       0., 0.])
  dim: 3
  dist: -0.0006036056790933442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59829597e-14, -1.83931839e-13,  1.00000000e+00, -8.45773033e-27,
        1.00000000e+00,  1.83931839e-13, -1.00000000e+00,  0.00000000e+00,
       -4.59829597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869804 , -0.05456743,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.04073540e-05, 6.24421627e-05,-4.90511281e+00,-7.20021479e-03,
 -1.19896688e-03, 4.85669886e-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,
  9.51852559e-02,-6.99242465e-02, 1.30402259e-01, 9.86071000e-01,
  4.31200093e-04,-7.72315522e-04,-1.66322582e-01]

qacc:
[-5.50056624e+00, 4.08761578e-01, 1.48790636e+00,-9.62425126e+00,
 -4.67809751e+00, 1.47228944e+00,-4.99972003e+00, 5.71849049e+00,
 -3.89333092e+00, 1.73935833e+00,-7.76453329e+00, 1.49119868e+01,
  1.00370243e-01,-4.00837265e-01,-4.85439044e+00, 1.74657484e+01,
 -6.17183594e-01, 3.29372326e+00,-2.80059782e-02,-4.01829556e+01,
 -2.93898081e+01,-1.39927370e+00]

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([ 6.45185377,  1.9217381 , -6.15900477,  1.9217381 , 33.19057301,
        8.34303875, -6.15900477,  8.34303875,  9.05505607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006023177857844795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.71668899e-07, -5.71668812e-07,  1.00000000e+00,  3.26805280e-13,
        1.00000000e+00,  5.71668812e-07, -1.00000000e+00,  5.04870979e-29,
        5.71668899e-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([ 0.09978507, -0.09490115,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.77971557e-05, 6.19332033e-05,-4.90512491e+00,-7.21303913e-03,
 -1.19467009e-03, 7.60174201e-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,
  9.51771861e-02,-6.99286168e-02, 1.30404174e-01, 9.86055181e-01,
  4.69743953e-04,-8.27521371e-04,-1.66415969e-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,  2.41601287,  1.34170051,  0.33287285,-31.63649398,
  25.72156076,  4.43288574]

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([ 6.49341609, -4.53835682,  4.64411132, -4.53835682, 21.54743353,
       14.71121126,  4.64411132, 14.71121126, 20.86962745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006072989436304854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14066323e-14, -9.14066323e-14,  1.00000000e+00,  8.35517243e-27,
        1.00000000e+00,  9.14066323e-14, -1.00000000e+00,  0.00000000e+00,
        9.14066323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07772724, -0.07966074,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.29763002e-05, 5.51594214e-05,-4.90507834e+00,-7.21853503e-03,
 -1.19210883e-03, 8.56039477e-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,
  9.51785744e-02,-6.99277049e-02, 1.30406596e-01, 9.86040778e-01,
  4.56288838e-04,-8.22273540e-04,-1.66501349e-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,  2.36452728,  1.32056011,  0.12662805,-30.66417732,
  25.48106918,  4.07274382]

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([ 6.5000662 ,  6.49148008,  0.3339866 ,  6.49148008,  6.65755765,
       -3.0610586 ,  0.3339866 , -3.0610586 , 65.99586853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006080962497676534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56433922e-14, -9.12867844e-14,  1.00000000e+00,  4.16663850e-27,
        1.00000000e+00,  9.12867844e-14, -1.00000000e+00,  0.00000000e+00,
        4.56433922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07772586, -0.07965771,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.69427316e-06, 2.55139827e-05,-4.90501812e+00,-7.22260100e-03,
 -1.19230045e-03, 1.15352819e-05]


--- 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,
  9.51892483e-02,-6.99215835e-02, 1.30408813e-01, 9.86027693e-01,
  3.92338570e-04,-7.57263485e-04,-1.66579293e-01]

qacc:
[  0.92129213, -1.41296026,  2.91310992,  2.37225852,  4.52284947,
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   1.02204723, -2.74637471,  0.54568989, -1.18115097, -6.09799937,
  19.09092847,  2.32142116,  1.30238115, -0.05112853,-29.86762897,
  25.26247804,  3.78309215]

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.,
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  dim: 3
  dist: -0.0006051701655521435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37592254e-13, -1.83456338e-13,  1.00000000e+00,  2.52421710e-26,
        1.00000000e+00,  1.83456338e-13, -1.00000000e+00,  0.00000000e+00,
        1.37592254e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07772374, -0.07965597,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.37231088e-06, 3.61526647e-06,-4.90500031e+00,-7.22273064e-03,
 -1.19509030e-03, 1.20019106e-05]


--- 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,
  9.52090652e-02,-6.99103141e-02, 1.30410215e-01, 9.86015828e-01,
  2.79112788e-04,-6.33081506e-04,-1.66650258e-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,
  2.28572383e+00, 1.28698060e+00,-2.03821195e-01,-2.92195167e+01,
  2.50702685e+01, 3.54925889e+00]

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: -0.0005992906925615243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.26280884e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.26280884e-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([ 0.07772102, -0.07965525,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.73073007e-05,-1.14670211e-05,-4.90502227e+00,-7.21904459e-03,
 -1.20053859e-03, 1.00624505e-05]


--- 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,
  9.52357823e-02,-6.99009305e-02, 1.30412626e-01, 9.86004093e-01,
  1.70068055e-04,-4.54982235e-04,-1.66720405e-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,  1.7250701 , -0.47144198,  0.2522917 , -2.43113405,
  26.93019345,  0.4053661 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005930080519005217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19899247e-06, -1.19899231e-06,  1.00000000e+00, -1.43758276e-12,
        1.00000000e+00,  1.19899231e-06, -1.00000000e+00,  0.00000000e+00,
       -1.19899247e-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([ 0.0829548 , -0.06517332,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.31344203e-05,-2.04451247e-05,-4.90508198e+00,-7.21163929e-03,
 -1.20868618e-03, 5.79683773e-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,
  9.52672226e-02,-6.98986681e-02, 1.30415357e-01, 9.85991881e-01,
  1.05994258e-04,-2.29757411e-04,-1.66793122e-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,  1.18078127, -1.78029688,  0.0801023 , 18.24182296,
  26.98145456, -1.32097199]

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: -0.000588817990926388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71377846e-14, -1.88551138e-13,  1.00000000e+00,  8.88788294e-27,
        1.00000000e+00,  1.88551138e-13, -1.00000000e+00,  0.00000000e+00,
        4.71377846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08699748, -0.05455887,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.37424014e-05,-3.32431809e-05,-4.90512745e+00,-7.20407007e-03,
 -1.21851784e-03, 1.27855164e-06]


--- 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,
  9.52959744e-02,-6.98833008e-02, 1.30415971e-01, 9.85978844e-01,
 -4.50457851e-05,-4.77519927e-05,-1.66870355e-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, -0.67210386,  3.27623371, -0.52929758,-39.27013121,
 -28.56001239, -2.28316026]

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([ 6.30808718,  1.57305421, -6.1088022 ,  1.57305421, 35.91437928,
        7.62380267, -6.1088022 ,  7.62380267,  8.27126335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005850990995516642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.48747849e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.48747849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10041396, -0.09607313,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.76347754e-05,-4.86661625e-05,-4.90515977e+00,-7.19888965e-03,
 -1.23042172e-03,-1.82001486e-06]


--- 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,
  9.53190397e-02,-6.98778199e-02, 1.30417546e-01, 9.85966750e-01,
 -1.15189906e-04, 1.10003888e-04,-1.66941736e-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, -1.42162977, -2.47161665,  0.24025672, 41.90426   ,
  -5.20530953,  2.96158867]

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([ 6.30081656,  0.73939072,  6.25728301,  0.73939072, 43.65584315,
       -4.41405002,  6.25728301, -4.41405002,  6.82240199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005842282267098792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50162089e-14, -9.50162089e-14,  1.00000000e+00,  9.02807995e-27,
        1.00000000e+00,  9.50162089e-14, -1.00000000e+00,  0.00000000e+00,
        9.50162089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10625234, -0.04866103,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.27969227e-05,-3.25725418e-05,-4.90516498e+00,-7.18701297e-03,
 -1.24307568e-03,-6.23892055e-06]


--- 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,
  9.53365629e-02,-6.98820343e-02, 1.30419246e-01, 9.85955514e-01,
 -1.06643184e-04, 2.43162791e-04,-1.67007946e-01]

qacc:
[-6.57813343e-01,-1.69898359e+00, 7.89031510e+00,-1.71213112e+01,
  2.43522478e+00, 2.44868269e+00,-1.34519042e+01, 3.30309136e+01,
  6.56656281e+00, 1.98368528e+00,-8.40212786e+00, 1.60790134e+01,
 -1.58867270e+00, 2.64728248e+00, 1.78886193e+00,-6.29063426e+00,
 -1.38553757e+00,-2.42381073e+00, 3.11893042e-02, 4.08461734e+01,
 -5.55785304e+00, 2.62361884e+00]

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([  6.3338135 ,  -5.21352545,  -3.5967132 ,  -5.21352545,
        23.07957748, -24.27340233,  -3.5967132 , -24.27340233,
        41.51871528,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005881802692196819
  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([ 0.10625493, -0.0486642 ,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.90056413e-05,-3.19652295e-05,-4.90508507e+00,-7.18075003e-03,
 -1.24852708e-03,-4.98957711e-06]


--- 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,
  9.53486661e-02,-6.98957813e-02, 1.30420346e-01, 9.85945055e-01,
 -2.12360709e-05, 3.51496101e-04,-1.67069518e-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,-1.35498497,-2.38315178,
 -0.14998616,39.96297652,-5.82065893, 2.35914613]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005880325659831792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.83204474e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.83204474e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10625756, -0.04866564,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.80852849e-06,-2.38679568e-05,-4.90504925e+00,-7.17955426e-03,
 -1.25386882e-03,-3.92942623e-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,
  9.53563042e-02,-6.99073503e-02, 1.30424039e-01, 9.85934585e-01,
  5.52196298e-05, 4.23673349e-04,-1.67131122e-01]

qacc:
[ 4.58747566e+00, 1.04305706e+00,-5.48426419e+00, 1.22044004e+01,
  3.93303561e+00, 6.48470505e-01,-3.17075635e+00, 6.79902875e+00,
 -1.50345694e+00,-1.16781852e+00, 4.61962205e+00,-8.02472926e+00,
  7.27086368e-01,-1.12077124e+00, 1.61422738e+00,-7.95324301e+00,
 -1.11627519e+00, 5.44506953e-01, 6.48322390e-01,-1.39250694e+00,
 -1.85716975e+01,-1.83666573e-02]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005846561988499951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.50941542e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.50941542e-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([ 0.10334635, -0.07223764,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.55140436e-05,-8.74926338e-06,-4.90505472e+00,-7.18331481e-03,
 -1.25896919e-03,-3.06316079e-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,
  9.53612450e-02,-6.99057286e-02, 1.30426102e-01, 9.85923173e-01,
  4.14232731e-05, 4.52581395e-04,-1.67198358e-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, -0.67434244,  3.29764421, -0.40774819,-40.87427815,
 -28.87222105, -2.8733374 ]

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([ 6.31763016, -1.04420949, -6.2307365 , -1.04420949, 35.25799994,
       -4.85011823, -6.2307365 , -4.85011823,  7.13046175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005862420870692275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4689809e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4689809e-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([ 0.10039567, -0.09607677,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.00278379e-05,-3.59064833e-06,-4.90503136e+00,-7.18669613e-03,
 -1.26423501e-03,-4.81300201e-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,
  9.53635197e-02,-6.98911450e-02, 1.30425878e-01, 9.85910742e-01,
 -6.10879315e-05, 4.39750047e-04,-1.67271671e-01]

qacc:
[ 3.37363669e+00, 5.84128005e-01,-2.09510871e+00, 2.08962739e+00,
 -1.66029820e+00, 7.26886720e-01,-2.69864445e-02,-6.54243366e+00,
 -4.84979576e+00, 3.15937138e+00,-9.54519180e+00, 8.50569429e+00,
  5.99462609e-01,-1.26173137e+00, 2.58633545e+00,-9.23192611e+00,
 -6.66513478e-01, 3.24051591e+00,-5.71571465e-01,-4.02422371e+01,
 -2.79923013e+01,-3.09995639e+00]

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([  6.29914394,   2.93562186,   5.57327001,   2.93562186,
        52.13462664, -24.14303359,   5.57327001, -24.14303359,
        19.01606185,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005840278742831329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50488045e-14, -9.50488045e-14,  1.00000000e+00,  9.03427523e-27,
        1.00000000e+00,  9.50488045e-14, -1.00000000e+00,  0.00000000e+00,
        9.50488045e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10039299, -0.09607799,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.75136385e-06,-3.09418774e-06,-4.90500175e+00,-7.18479361e-03,
 -1.26827824e-03,-6.71809423e-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,
  9.53602003e-02,-6.98863403e-02, 1.30425921e-01, 9.85899305e-01,
 -8.59097118e-05, 4.04029526e-04,-1.67339149e-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, -1.39853511, -2.44474806,  0.06673127, 40.21052167,
  -4.78611771,  2.97572415]

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([ 6.28369523,  0.9758467 ,  6.20745914,  0.9758467 , 41.20538247,
       -5.48988122,  6.20745914, -5.48988122,  7.14673474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005821772308996498
  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([ 0.10627136, -0.04866815,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.50899839e-05, 1.08734943e-05,-4.90503420e+00,-7.17781327e-03,
 -1.26928735e-03,-5.74669248e-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,
  9.53514102e-02,-6.98911337e-02, 1.30425487e-01, 9.85888746e-01,
 -3.46476441e-05, 3.44773909e-04,-1.67401495e-01]

qacc:
[-8.67638894e-01,-1.04417751e+00, 3.97816087e+00,-6.23083931e+00,
 -4.80821447e+00,-4.85056713e-01,-1.54584744e+00, 1.15189227e+01,
  2.43209872e+00,-2.05720666e+00, 6.13020171e+00,-3.95058813e+00,
 -2.56039776e-02,-3.18063389e-01,-5.72333194e+00, 1.86747181e+01,
 -1.36766418e+00,-2.39953042e+00,-1.19091783e-01, 3.94736791e+01,
 -5.23611264e+00, 2.61754783e+00]

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([  6.28851624,  -3.83821416,  -4.98131996,  -3.83821416,
        43.89264308, -28.97478851,  -4.98131996, -28.97478851,
        28.61421397,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005827547814862832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52564492e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52564492e-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([ 0.1062751 , -0.04866918,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  6.52976441e-06, 1.06736247e-05,-4.90500775e+00,-7.17660269e-03,
 -1.26403107e-03,-5.72411730e-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,
  9.53372515e-02,-6.99053730e-02, 1.30423935e-01, 9.85878957e-01,
  9.13627950e-05, 2.61496948e-04,-1.67459267e-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,-1.34213567,-2.36147665,
 -0.27956751,38.85661843,-5.58490324, 2.33182531]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005799743893726006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78565539e-14, -1.91426216e-13,  1.00000000e+00,  9.16099900e-27,
        1.00000000e+00,  1.91426216e-13, -1.00000000e+00,  0.00000000e+00,
        4.78565539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10627862, -0.04866895,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.04464630e-06, 1.77734235e-05,-4.90502206e+00,-7.18026186e-03,
 -1.25863700e-03,-5.77822170e-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,
  9.53203183e-02,-6.99061624e-02, 1.30421554e-01, 9.85868094e-01,
  1.24555687e-04, 1.34456807e-04,-1.67523333e-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, -0.69363944,  3.36250175, -0.20745765,-42.08828661,
 -29.34432572, -3.20260228]

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: -0.0005851022065167244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.48742811e-14, -1.89748562e-13,  1.00000000e+00,  1.80022584e-26,
        1.00000000e+00,  1.89748562e-13, -1.00000000e+00,  0.00000000e+00,
        9.48742811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10038199, -0.09607749,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.02384232e-05, 3.18222348e-05,-4.90507526e+00,-7.18871827e-03,
 -1.25297514e-03,-5.93749448e-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,
  9.53006433e-02,-6.98937662e-02, 1.30417573e-01, 9.85856105e-01,
  6.68966797e-05,-3.48411491e-05,-1.67593959e-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, -0.68545999,  3.29636569, -0.39975308,-41.24389801,
 -28.44055568, -3.33146831]

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([  6.3219127 ,   3.84341598,   5.0194356 ,   3.84341598,
        42.85802206, -27.97594746,   5.0194356 , -27.97594746,
        27.74328597,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005867549968722602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.46070362e-14, -1.89214072e-13,  1.00000000e+00,  1.79009826e-26,
        1.00000000e+00,  1.89214072e-13, -1.00000000e+00,  0.00000000e+00,
        9.46070362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10037943, -0.09607666,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.36718811e-06, 3.00680510e-05,-4.90506026e+00,-7.19116599e-03,
 -1.24767933e-03,-3.53810279e-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,
  9.52782536e-02,-6.98684080e-02, 1.30411326e-01, 9.85842919e-01,
 -7.99692694e-05,-2.45181003e-04,-1.67671322e-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,
 -6.78657668e-01, 3.24053782e+00,-5.66719663e-01,-4.05334951e+01,
 -2.77062219e+01,-3.41817642e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000584623625626654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.49519465e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.49519465e-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([ 0.10037769, -0.09607754,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.30123396e-05, 4.28089613e-05,-4.90510942e+00,-7.18838512e-03,
 -1.23933111e-03, 1.81570001e-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,
  9.52609258e-02,-6.98508816e-02, 1.30408828e-01, 9.85829556e-01,
 -1.80769749e-04,-4.01900351e-04,-1.67749494e-01]

qacc:
[-3.27280847e-01,-7.34380321e-01, 3.65996033e+00,-7.78054414e+00,
 -1.42302332e+00,-2.07873512e+00, 7.95277068e+00,-1.19687759e+01,
 -4.13345956e+00, 9.61149221e-01,-2.59927178e+00,-1.21926475e+00,
 -1.21624023e-01, 2.27523021e-02,-3.40820074e+00, 1.22037275e+01,
  1.26546267e+00,-1.95797831e+00, 9.37470269e-01, 1.82112418e+01,
  3.02926385e+01,-4.17175341e-01]

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([ 6.36996411, -1.57471276,  6.17225425, -1.57471276, 48.42295777,
       10.72888173,  6.17225425, 10.72888173,  9.10719857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000592509475915895
  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([ 0.08703599, -0.05454014,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.51889395e-05, 6.91969598e-05,-4.90521886e+00,-7.18045962e-03,
 -1.22803964e-03, 9.94892911e-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,
  9.52485555e-02,-6.98409750e-02, 1.30409057e-01, 9.85815957e-01,
 -2.36157037e-04,-5.07463059e-04,-1.67829040e-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,  1.23938142, -1.90493933,  0.68152801, 18.09378608,
  29.02496077, -0.70109196]

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([ 6.44232129,  0.67231567, -6.40714408,  0.67231567, 51.97937968,
        4.77830335, -6.40714408,  4.77830335,  6.94371914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000601175722560493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61688231e-14, -9.23376463e-14,  1.00000000e+00, -4.26312046e-27,
        1.00000000e+00,  9.23376463e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61688231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08704106, -0.05454036,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.17988011e-05, 4.82511378e-05,-4.90511824e+00,-7.17689047e-03,
 -1.21620526e-03, 8.99176956e-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,
  9.52410518e-02,-6.98385083e-02, 1.30411121e-01, 9.85802070e-01,
 -2.46721862e-04,-5.63888764e-04,-1.67910393e-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,  1.21663572, -1.8599893 ,  0.45900009, 17.96954915,
  27.98141699, -0.92089489]

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([ 6.47215623,  0.39192391, -6.46027878,  0.39192391, 65.68823649,
        3.59244525, -6.46027878,  3.59244525,  6.6900981 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006047506185225399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58959028e-14,  9.17918056e-14,  1.00000000e+00, -4.21286779e-27,
        1.00000000e+00, -9.17918056e-14, -1.00000000e+00,  0.00000000e+00,
        4.58959028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0870446 , -0.05453978,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.52579564e-05, 3.17367225e-05,-4.90505094e+00,-7.17553399e-03,
 -1.20792625e-03, 8.43524097e-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,
  9.52383363e-02,-6.98433306e-02, 1.30414252e-01, 9.85787847e-01,
 -2.12986983e-04,-5.72827315e-04,-1.67993887e-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,
  1.19707207e+00,-1.82224325e+00, 2.66620039e-01, 1.78479312e+01,
  2.71258275e+01,-1.09042385e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000604190664888038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.83753753e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.83753753e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08704692, -0.05453856,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.58905158e-06, 1.90898591e-05,-4.90501381e+00,-7.17640081e-03,
 -1.20304764e-03, 8.22776797e-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,
  9.52403428e-02,-6.98553164e-02, 1.30417788e-01, 9.85773241e-01,
 -1.35404910e-04,-5.35620227e-04,-1.68079777e-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, 1.18048318,-1.79086966,
  0.10108152,17.73519595,26.42808043,-1.22048072]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006003180675834829
  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([ 0.08704827, -0.0545368 ,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.18116126e-06, 9.89628520e-06,-4.90500439e+00,-7.17949400e-03,
 -1.20144514e-03, 8.32841840e-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,
  9.52470159e-02,-6.98743627e-02, 1.30421160e-01, 9.85758202e-01,
 -1.43582601e-05,-4.53351275e-04,-1.68168253e-01]

qacc:
[-1.37917868e+00, 3.31155018e-01,-1.61731820e+00, 4.00245779e+00,
 -4.40534702e+00, 2.32245788e-02,-1.34702481e+00, 7.30506059e+00,
  9.05040897e-01, 3.26117070e+00,-1.16080472e+01, 1.77136021e+01,
 -6.32172028e-02,-1.75078172e-01, 5.08928900e-01,-2.83660797e+00,
  1.16663900e+00,-1.76510974e+00,-4.07936459e-02, 1.76353930e+01,
  2.58632076e+01,-1.31949390e+00]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005938355400385148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34789980e-14, -1.86957996e-13,  1.00000000e+00,  1.74766461e-26,
        1.00000000e+00,  1.86957996e-13, -1.00000000e+00,  0.00000000e+00,
        9.34789980e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08704887, -0.05453464,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.30303339e-05, 3.85718233e-06,-4.90502084e+00,-7.18481207e-03,
 -1.20301941e-03, 8.70561527e-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,
  9.52583101e-02,-6.99003860e-02, 1.30423884e-01, 9.85742678e-01,
  1.49838264e-04,-3.26888063e-04,-1.68259455e-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, 1.15530571,-1.74428415,
 -0.16196545,17.5510141 ,25.41055591,-1.39403632]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005853403474660734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42253523e-13, -1.89671365e-13,  1.00000000e+00,  2.69814199e-26,
        1.00000000e+00,  1.89671365e-13, -1.00000000e+00,  0.00000000e+00,
        1.42253523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08704886, -0.05453216,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.19457726e-05, 7.64504310e-07,-4.90506177e+00,-7.19235109e-03,
 -1.20769149e-03, 9.33584567e-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,
  9.52669034e-02,-6.99127633e-02, 1.30426013e-01, 9.85726621e-01,
  2.23496245e-04,-2.47833667e-04,-1.68353548e-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, -0.67524066,  3.41153116, -0.14883503,-40.63579532,
 -30.98373269, -1.4509352 ]

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([ 6.24013317,  1.74608528, -5.99086373,  1.74608528, 38.42560661,
        9.38071436, -5.99086373,  9.38071436,  8.97421761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000576957083371521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.81068288e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.81068288e-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([ 0.10034188, -0.09608983,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.39275632e-05, 4.83042853e-07,-4.90512616e+00,-7.20210603e-03,
 -1.21539910e-03, 1.02024779e-05]


--- 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,
  9.52728217e-02,-6.99117953e-02, 1.30426753e-01, 9.85709889e-01,
  2.08067418e-04,-2.13880532e-04,-1.68451552e-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, -0.66874751,  3.33630028, -0.34724009,-40.11154951,
 -29.72831839, -1.96870847]

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([ 6.26587931,  0.50995076,  6.24509357,  0.50995076, 41.33668227,
       -2.86374936,  6.24509357, -2.86374936,  6.49972227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005800426514566553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57018438e-14, -9.57018438e-14,  1.00000000e+00,  9.15884291e-27,
        1.00000000e+00,  9.57018438e-14, -1.00000000e+00,  0.00000000e+00,
        9.57018438e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10033627, -0.0960901 ,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.81912274e-05,-8.23246932e-06,-4.90503105e+00,-7.20455418e-03,
 -1.22439454e-03, 5.01472359e-06]


--- 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,
  9.52760891e-02,-6.98977355e-02, 1.30425417e-01, 9.85692347e-01,
  1.04799737e-04,-2.23162615e-04,-1.68554252e-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 , -0.66271681,  3.27298194, -0.51918386,-39.65071177,
 -28.7075617 , -2.36851026]

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([ 6.25860515,  0.89569098,  6.19418082,  0.89569098, 51.16257199,
       -6.49320376,  6.19418082, -6.49320376,  7.19753545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005791709831623887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.58458777e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.58458777e-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([ 0.10033211, -0.09609181,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.60938394e-06,-3.89680204e-06,-4.90500185e+00,-7.20204321e-03,
 -1.22990660e-03, 2.96574815e-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,
  9.52767274e-02,-6.98707950e-02, 1.30421409e-01, 9.85673864e-01,
 -8.52503157e-05,-2.74176329e-04,-1.68662243e-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, -0.65728437,  3.22014675, -0.6678516 ,-39.25387994,
 -27.8814262 , -2.67568703]

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([  6.22487961,   1.35792203,   6.07496287,   1.35792203,
        62.17564117, -12.50654091,   6.07496287, -12.50654091,
         9.02043701,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005751284449802274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65195718e-14, -9.65195718e-14,  1.00000000e+00,  9.31602774e-27,
        1.00000000e+00,  9.65195718e-14, -1.00000000e+00,  0.00000000e+00,
        9.65195718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10032909, -0.09609467,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.58023316e-05, 1.31983661e-05,-4.90503445e+00,-7.19458652e-03,
 -1.23216692e-03, 3.84155980e-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,
  9.52822495e-02,-6.98515196e-02, 1.30420163e-01, 9.85655338e-01,
 -2.30416114e-04,-2.70916010e-04,-1.68770341e-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,  1.2209323 , -1.91627808,  0.6906389 , 17.54361214,
  30.53338654, -0.05965262]

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([ 6.29217523, -1.68266051,  6.06301268, -1.68266051, 37.76559956,
        8.73478103,  6.06301268,  8.73478103,  8.71632835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005831931062601214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.5184855e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.5184855e-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([ 0.08706787, -0.05452532,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.63511532e-05, 4.27196157e-05,-4.90512570e+00,-7.18220260e-03,
 -1.23135065e-03, 7.47835423e-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,
  9.52925896e-02,-6.98397236e-02, 1.30420804e-01, 9.85636673e-01,
 -3.31177681e-04,-2.15979073e-04,-1.68879226e-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,  1.20451589, -1.86983279,  0.4717488 , 17.52277123,
  29.21479772, -0.39981882]

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([ 6.33554006,  0.4397197 , -6.32026221,  0.4397197 , 45.42369273,
        2.71948063, -6.32026221,  2.71948063,  6.52474253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005883870406251379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43446191e-14, -9.43446191e-14,  1.00000000e+00,  8.90090715e-27,
        1.00000000e+00,  9.43446191e-14, -1.00000000e+00,  0.00000000e+00,
        9.43446191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08707365, -0.05452486,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.35856067e-05, 1.46117298e-05,-4.90506592e+00,-7.17480339e-03,
 -1.22826281e-03, 4.57475343e-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,
  9.52998278e-02,-6.98384477e-02, 1.30421817e-01, 9.85618592e-01,
 -3.50511914e-04,-1.62660316e-04,-1.68984735e-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,
 -7.75474932e-01,-2.63002013e+00, 9.28402372e-02, 4.02659836e+01,
  6.07772781e+00, 1.70396543e+00]

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([ 6.36018014,  6.31124122,  0.78748065,  6.31124122,  6.81354929,
       -3.63351408,  0.78748065, -3.63351408, 35.4808751 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005913378173727224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69369196e-14, -9.38738393e-14,  1.00000000e+00,  4.40614885e-27,
        1.00000000e+00,  9.38738393e-14, -1.00000000e+00,  0.00000000e+00,
        4.69369196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10158166, -0.04726232,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.80838226e-05,-9.03123284e-06,-4.90503683e+00,-7.16952412e-03,
 -1.22879405e-03, 2.07089354e-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,
  9.53040485e-02,-6.98475056e-02, 1.30422458e-01, 9.85600972e-01,
 -2.90261382e-04,-1.12181689e-04,-1.69087631e-01]

qacc:
[ -0.65714527, -1.05621348,  4.35757225, -6.90876819,  1.65128004,
  -2.41853147,  9.88338328,-18.84810775, -5.33060799, -0.81412541,
   1.48071436,  2.40581405, -0.26352288,  0.50085607,-10.92611052,
  37.5200268 , -0.75436035, -2.58348074, -0.09289872, 39.46037418,
   5.32424245,  1.31973066]

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([  6.3614484 ,  -3.8448749 ,  -5.06803342,  -3.8448749 ,
        35.16869453, -21.85468177,  -5.06803342, -21.85468177,
        22.94155166,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005914896952405185
  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([ 0.10158608, -0.04726381,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.61166183e-06,-1.02334495e-05,-4.90500586e+00,-7.16807602e-03,
 -1.22762939e-03, 2.03087584e-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,
  9.53053219e-02,-6.98667409e-02, 1.30422086e-01, 9.85583696e-01,
 -1.51950726e-04,-6.54932495e-05,-1.69188507e-01]

qacc:
[-3.47260821e-01,-2.98664934e+00, 1.04421386e+01,-1.29714631e+01,
 -2.12421165e+00,-9.36105993e-01, 5.34099178e+00,-1.23267613e+01,
 -2.41828904e-01,-1.87892678e-01, 1.60618907e-02, 2.27928905e+00,
  2.51964160e-01,-5.73452062e-01,-3.17617709e+00, 1.15037678e+01,
 -7.36841542e-01,-2.54431404e+00,-2.53303668e-01, 3.87886679e+01,
  4.73142029e+00, 1.02001366e+00]

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([  6.33444702,  -4.1125543 ,  -4.81789541,  -4.1125543 ,
        40.11711866, -28.83687992,  -4.81789541, -28.83687992,
        30.94960038,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005882561390227747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43656131e-14, -1.88731226e-13,  1.00000000e+00,  1.78097379e-26,
        1.00000000e+00,  1.88731226e-13, -1.00000000e+00,  0.00000000e+00,
        9.43656131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10158991, -0.04726382,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.26647748e-05,-1.95627521e-06,-4.90501549e+00,-7.17144003e-03,
 -1.22746352e-03, 2.43314450e-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,
  9.53012565e-02,-6.98952223e-02, 1.30420123e-01, 9.85567169e-01,
  6.15288694e-05,-4.32735544e-05,-1.69284817e-01]

qacc:
[ -6.23070373, -2.1423662 ,  9.27860445,-16.84143229, -1.32533958,
   0.56485913, -0.32427908, -3.11159094, -0.0854487 , -0.81929634,
   4.09941737, -8.79647835, -0.25588692,  0.07450845,  3.70596764,
 -11.97869841, -1.33469876, -2.31153497, -0.39774688, 39.1127623 ,
  -5.69945948,  2.30843176]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005827451635975617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76290107e-14, -1.90516043e-13,  1.00000000e+00,  9.07409063e-27,
        1.00000000e+00,  1.90516043e-13, -1.00000000e+00,  0.00000000e+00,
        4.76290107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10636157, -0.04871058,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.73453974e-05, 1.52153848e-05,-4.90506336e+00,-7.17954683e-03,
 -1.22813097e-03, 3.20742808e-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,
  9.52944796e-02,-6.99098239e-02, 1.30418429e-01, 9.85550046e-01,
  1.80338603e-04,-7.01215353e-05,-1.69384385e-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, -0.6778662 ,  3.46993584,  0.06720313,-42.49860009,
 -32.19294371, -1.65168978]

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([  6.27928483,  -1.33439914,  -6.13586154,  -1.33439914,
        56.98201604, -11.02659834,  -6.13586154, -11.02659834,
         8.67729906,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000581648846368174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54375678e-14, -9.54375678e-14,  1.00000000e+00,  9.10832935e-27,
        1.00000000e+00,  9.54375678e-14, -1.00000000e+00,  0.00000000e+00,
        9.54375678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10028966, -0.09609845,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.22292002e-05, 4.53725057e-05,-4.90514301e+00,-7.19198086e-03,
 -1.22851559e-03, 3.58624321e-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,
  9.52850170e-02,-6.99108750e-02, 1.30416089e-01, 9.85532193e-01,
  2.06663626e-04,-1.43442941e-04,-1.69488150e-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, -0.67142323,  3.38762512, -0.16159159,-41.63830073,
 -30.73408006, -2.12296889]

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([ 6.33922101,  1.88057895,  6.0538538 ,  1.88057895, 33.70837625,
       -8.50199872,  6.0538538 , -8.50199872,  8.98029567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000588827864943714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.42739883e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.42739883e-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([ 0.10028344, -0.09609558,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.02870458e-05, 3.22133856e-05,-4.90504859e+00,-7.19812211e-03,
 -1.23176790e-03, 8.30786373e-07]


--- 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,
  9.52728923e-02,-6.98986560e-02, 1.30412304e-01, 9.85513485e-01,
  1.42363023e-04,-2.61140981e-04,-1.69596824e-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, -0.66553139,  3.3175449 , -0.36093312,-40.89684325,
 -29.54785456, -2.48028057]

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([  6.3582925 ,   2.19072854,   5.96896909,   2.19072854,
        40.71388033, -12.60917348,   5.96896909, -12.60917348,
        10.98610608,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005911117665605703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.39097382e-14, -1.87819476e-13,  1.00000000e+00,  1.76380778e-26,
        1.00000000e+00,  1.87819476e-13, -1.00000000e+00,  0.00000000e+00,
        9.39097382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10027879, -0.09609485,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.56145105e-06, 3.37562252e-05,-4.90502479e+00,-7.19909292e-03,
 -1.23139412e-03, 1.45142148e-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,
  9.52581263e-02,-6.98734033e-02, 1.30406384e-01, 9.85493795e-01,
 -1.09972516e-05,-4.21527811e-04,-1.69710936e-01]

qacc:
[-1.62960768e+00, 1.90385100e+00,-8.58505293e+00, 1.52361475e+01,
 -2.62642117e+00, 1.49236603e+00,-3.01060169e+00,-3.52473565e+00,
 -4.93579599e+00,-2.94104030e-01, 3.42267603e+00,-1.15009166e+01,
 -3.43079876e-02,-5.43010233e-02,-6.09800296e+00, 2.07622015e+01,
 -6.60344737e-01, 3.25840942e+00,-5.34028049e-01,-4.02654527e+01,
 -2.85878235e+01,-2.74835275e+00]

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([  6.34425552,   2.5486186 ,   5.80982972,   2.5486186 ,
        48.25682965, -18.38593748,   5.80982972, -18.38593748,
        14.4096799 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005894307798000042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.41775576e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.41775576e-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([ 0.10027539, -0.09609584,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.53846122e-05, 4.92775324e-05,-4.90506611e+00,-7.19494814e-03,
 -1.22764772e-03, 5.16918532e-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,
  9.52483044e-02,-6.98560164e-02, 1.30404066e-01, 9.85474125e-01,
 -1.19420605e-04,-5.26635236e-04,-1.69824785e-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,  1.23605411, -1.96643793,  0.90063114, 17.45182463,
  31.05190171,  0.12187874]

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([ 6.42683383, -1.63187342,  6.2162032 , -1.63187342, 38.20832899,
        8.34325639,  6.2162032 ,  8.34325639,  8.6170998 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005993204415765119
  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([ 0.08710568, -0.05450735,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.15831683e-05, 7.81055368e-05,-4.90516840e+00,-7.18574101e-03,
 -1.22071947e-03, 1.17726075e-05]


--- 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,
  9.52433399e-02,-6.98462778e-02, 1.30404341e-01, 9.85454369e-01,
 -1.83317417e-04,-5.79305424e-04,-1.69939158e-01]

qacc:
[  1.70355346, -0.95604746,  2.57865135, -1.22815896, -0.8036005 ,
  -1.81296051,  7.27998901,-13.20970995,  1.98105867,  2.87547592,
 -11.26480195, 19.14779479, -0.19003278,  0.25030185, -4.72127925,
  16.09140627,  1.21432805, -1.91208871,  0.64813021, 17.48716318,
  29.61863407, -0.27374183]

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([ 6.49009158,  1.1129709 , -6.39394905,  1.1129709 , 40.34640903,
        5.89324309, -6.39394905,  5.89324309,  7.51590646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006069003911112203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14666592e-14, -1.82933318e-13,  1.00000000e+00,  1.67322995e-26,
        1.00000000e+00,  1.82933318e-13, -1.00000000e+00,  0.00000000e+00,
        9.14666592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08711205, -0.05450677,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.01261484e-05, 5.06712175e-05,-4.90508062e+00,-7.18177272e-03,
 -1.21133108e-03, 1.03277614e-05]


--- 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,
  9.52431564e-02,-6.98440040e-02, 1.30406331e-01, 9.85434438e-01,
 -2.03086228e-04,-5.81849017e-04,-1.70054663e-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,
  1.19527393e+00,-1.86621279e+00, 4.28874162e-01, 1.74834861e+01,
  2.84483275e+01,-5.80634446e-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([ 6.51197679,  0.89004248, -6.45086553,  0.89004248, 51.14598757,
        6.15826904, -6.45086553,  6.15826904,  7.36164898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006095244998889915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55364397e-14, -9.10728793e-14,  1.00000000e+00,  4.14713468e-27,
        1.00000000e+00,  9.10728793e-14, -1.00000000e+00,  0.00000000e+00,
        4.55364397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08711661, -0.05450554,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.59992624e-05, 2.82130084e-05,-4.90502607e+00,-7.17989081e-03,
 -1.20560439e-03, 9.25219714e-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,
  9.52476884e-02,-6.98490416e-02, 1.30409279e-01, 9.85414253e-01,
 -1.79097255e-04,-5.36138370e-04,-1.70171768e-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,
  1.17885617e+00,-1.82782601e+00, 2.39516367e-01, 1.74567932e+01,
  2.74963904e+01,-8.17794548e-01]

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([ 6.50039069,  0.598901  , -6.4727426 ,  0.598901  , 64.83260123,
        5.39728232, -6.4727426 ,  5.39728232,  6.99978298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006081351559930337
  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([ 0.08711973, -0.05450378,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.10154852e-06, 1.00286319e-05,-4.90500147e+00,-7.18013410e-03,
 -1.20336072e-03, 8.50277580e-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,
  9.52568802e-02,-6.98612633e-02, 1.30412534e-01, 9.85393740e-01,
 -1.11682077e-04,-4.43683745e-04,-1.70290830e-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, 1.16496595,-1.79602278,
  0.0767122 ,17.41859431,26.72613632,-1.00009453]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006035411691012876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59878746e-14, -9.19757492e-14,  1.00000000e+00,  4.22976923e-27,
        1.00000000e+00,  9.19757492e-14, -1.00000000e+00,  0.00000000e+00,
        4.59878746e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08712171, -0.05450159,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.06348775e-05,-4.39283488e-06,-4.90500433e+00,-7.18252682e-03,
 -1.20445770e-03, 8.04450361e-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,
  9.52706859e-02,-6.98805649e-02, 1.30415538e-01, 9.85372831e-01,
 -1.12757613e-06,-3.05695438e-04,-1.70412122e-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,  1.1534548 , -1.76998891, -0.06272797, 17.37710797,
  26.10745523, -1.13917668]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005964328079914594
  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([ 0.08712279, -0.05449906,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.32605925e-05,-1.54185825e-05,-4.90503280e+00,-7.18708345e-03,
 -1.20878234e-03, 7.85004818e-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,
  9.52890682e-02,-6.99068626e-02, 1.30417815e-01, 9.85351454e-01,
  1.52327184e-04,-1.23134404e-04,-1.70535845e-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,  1.1441562 , -1.74900362, -0.18175911, 17.33813745,
  25.61566911, -1.24415163]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005873959470847623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89007607e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89007607e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08712317, -0.05449627,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.88196093e-05,-2.33055578e-05,-4.90508552e+00,-7.19381205e-03,
 -1.21624562e-03, 7.89897683e-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,
  9.53048720e-02,-6.99193633e-02, 1.30419796e-01, 9.85329850e-01,
  2.15512411e-04, 9.73423479e-06,-1.70660599e-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, -0.64462392,  3.44922176, -0.07404993,-40.23648764,
 -32.17942541, -0.51760938]

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([ 6.32428442,  1.7816466 , -6.06813882,  1.7816466 , 32.22965805,
        7.6059929 , -6.06813882,  7.6059929 ,  8.55745537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005870390461734931
  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([ 0.10022342, -0.09610997,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.73566369e-05,-2.82242261e-05,-4.90516150e+00,-7.20271660e-03,
 -1.22677796e-03, 8.17692577e-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,
  9.53181156e-02,-6.99183943e-02, 1.30420636e-01, 9.85307807e-01,
  1.89774494e-04, 9.57698050e-05,-1.70787823e-01]

qacc:
[  2.92230369, -0.4072754 ,  0.51180506,  2.1654334 ,  3.03139873,
   0.45504114, -1.92985798,  4.95420839,  1.18086442,  1.49348296,
  -2.47963814, -3.2741509 ,  0.11368938, -0.32371518, -6.66973309,
  21.00970461, -0.64004914,  3.36744871, -0.28541724,-39.81297534,
 -30.66111315, -1.24987832]

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([ 6.35522859, -0.07061386,  6.35483627, -0.07061386, 32.28613105,
        0.28813978,  6.35483627,  0.28813978,  6.35843035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000590744852827299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87936132e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87936132e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10021587, -0.09611052,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.73526064e-05,-3.19960993e-05,-4.90505544e+00,-7.20339667e-03,
 -1.24022276e-03, 1.38282140e-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,
  9.53288178e-02,-6.99042305e-02, 1.30419601e-01, 9.85285135e-01,
  7.62858031e-05, 1.37279844e-04,-1.70918631e-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,
 -6.35346000e-01, 3.29867581e+00,-4.68466288e-01,-3.94283204e+01,
 -2.94293688e+01,-1.81988315e+00]

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([ 6.35087105,  0.23167315,  6.34664405,  0.23167315, 40.46105545,
       -1.24513268,  6.34664405, -1.24513268,  6.39632244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000590223021915498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.40511454e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.40511454e-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([ 0.10021018, -0.0961125 ,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.15490410e-06,-2.37127392e-05,-4.90501706e+00,-7.19925308e-03,
 -1.24993907e-03,-2.17499610e-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,
  9.53369969e-02,-6.98771015e-02, 1.30416060e-01, 9.85261658e-01,
 -1.23950812e-04, 1.36121910e-04,-1.71053884e-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,
 -6.30778154e-01, 3.24130686e+00,-6.26592527e-01,-3.90890094e+01,
 -2.84335921e+01,-2.26246965e+00]

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([ 6.31819577,  0.60777873,  6.2888952 ,  0.60777873, 50.46453105,
       -4.26644152,  6.2888952 , -4.26644152,  6.73051818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005863098301522318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.46788684e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.46788684e-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([ 0.10020595, -0.09611564,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.09733814e-05,-3.37277091e-06,-4.90504175e+00,-7.19026098e-03,
 -1.25622639e-03,-2.73716674e-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,
  9.53391555e-02,-6.98600445e-02, 1.30414344e-01, 9.85239713e-01,
 -2.42630912e-04, 1.16065531e-04,-1.71180127e-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,-1.50512287,-2.51798253,
  0.45635972,41.79306216,-2.33534011, 4.57395866]

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([ 6.35292086,  0.8461011 ,  6.29632563,  0.8461011 , 33.0635912 ,
       -3.58938352,  6.29632563, -3.58938352,  6.83526271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005904684948620786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70060229e-14, -9.40120459e-14,  1.00000000e+00,  4.41913239e-27,
        1.00000000e+00,  9.40120459e-14, -1.00000000e+00,  0.00000000e+00,
        4.70060229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10644546, -0.04875681,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  9.24149707e-05, 2.88935729e-05,-4.90512602e+00,-7.17641124e-03,
 -1.25931158e-03,-4.88418420e-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,
  9.53354754e-02,-6.98528250e-02, 1.30413484e-01, 9.85219089e-01,
 -2.82057291e-04, 7.54709504e-05,-1.71298747e-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, -1.45965255, -2.45939961,  0.21389672, 40.79954058,
  -3.33519646,  3.87062391]

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([  6.4101498 ,  -3.15455844,  -5.5802134 ,  -3.15455844,
        27.16891581, -11.73516781,  -5.5802134 , -11.73516781,
        13.04417437,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005973220868153439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64666823e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.64666823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1064518 , -0.04876116,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.05558324e-05, 2.23849636e-05,-4.90504741e+00,-7.16941878e-03,
 -1.25100066e-03,-6.65028274e-07]


--- 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,
  9.53261084e-02,-6.98552431e-02, 1.30412639e-01, 9.85199606e-01,
 -2.44159833e-04, 1.30857357e-05,-1.71410840e-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,
 -1.42176534e+00,-2.40936846e+00, 3.62570423e-03, 3.99567291e+01,
 -4.11249964e+00, 3.31264116e+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([  6.42737298,  -3.37901513,  -5.46748389,  -3.37901513,
        32.66500498, -16.21538487,  -5.46748389, -16.21538487,
        16.44880733,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005993850231666015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26135107e-14, -9.26135107e-14,  1.00000000e+00,  8.57726236e-27,
        1.00000000e+00,  9.26135107e-14, -1.00000000e+00,  0.00000000e+00,
        9.26135107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10645741, -0.04876352,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.81914699e-05, 2.45028928e-05,-4.90501370e+00,-7.16740165e-03,
 -1.24315698e-03,-7.51883584e-07]


--- 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,
  9.53111796e-02,-6.98671293e-02, 1.30411082e-01, 9.85181102e-01,
 -1.30543857e-04,-7.20483654e-05,-1.71517273e-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, -1.39043545, -2.36705597, -0.17797292, 39.24871287,
  -4.71730689,  2.86940937]

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([  6.41222102,  -3.6431568 ,  -5.27674018,  -3.6431568 ,
        38.76192646, -22.33482138,  -5.27674018, -22.33482138,
        21.83258542,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005975701577984605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64473924e-14, -9.28947848e-14,  1.00000000e+00,  4.31472052e-27,
        1.00000000e+00,  9.28947848e-14, -1.00000000e+00,  0.00000000e+00,
        4.64473924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10646245, -0.04876428,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.94004619e-06, 3.44882686e-05,-4.90502200e+00,-7.17027760e-03,
 -1.23549527e-03,-8.36935739e-07]


--- 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,
  9.52907917e-02,-6.98883421e-02, 1.30408187e-01, 9.85163425e-01,
  5.74674369e-05,-1.80667357e-04,-1.71618733e-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, -1.36475858, -2.33164456, -0.33432545, 38.66069648,
  -5.18868921,  2.51674952]

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([  6.3712185 ,  -3.9524035 ,  -4.99709232,  -3.9524035 ,
        44.7761787 , -30.3760446 ,  -4.99709232, -30.3760446 ,
        30.39686728,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005926596927735978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36644619e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.36644619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10646705, -0.04876376,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.27656287e-05, 5.18113641e-05,-4.90507010e+00,-7.17797325e-03,
 -1.22780191e-03,-9.78641595e-07]


--- 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,
  9.52715126e-02,-6.99060652e-02, 1.30409087e-01, 9.85145765e-01,
  2.16493791e-04,-2.89754868e-04,-1.71719804e-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,
  2.77169329e-01, 8.72447694e-01, 9.48751827e-01,-1.42372136e+01,
 -2.71795088e+00, 1.95624007e-01]

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([  6.35412961,  -3.03979058,  -5.57984196,  -3.03979058,
        46.7897963 , -22.02857349,  -5.57984196, -22.02857349,
        18.35487276,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005906132467124249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.58788623e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.58788623e-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([ 0.09358682, -0.07503014,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.29568736e-05, 7.61185599e-05,-4.90515629e+00,-7.19042483e-03,
 -1.21991667e-03,-1.21555776e-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,
  9.52496329e-02,-6.99103466e-02, 1.30409033e-01, 9.85127408e-01,
  2.83354802e-04,-4.45522196e-04,-1.71824651e-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, -0.65012696,  3.36041038, -0.23874497,-41.39069615,
 -30.90702892, -1.90131276]

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([ 6.3981425 ,  2.82585168, -5.74027785,  2.82585168, 17.79157477,
        5.60881381, -5.74027785,  5.60881381,  9.15927643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000595884023639151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86315286e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86315286e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10016618, -0.09611238,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.70365458e-05, 6.74956654e-05,-4.90512503e+00,-7.20110551e-03,
 -1.21633375e-03, 6.88156508e-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,
  9.52251641e-02,-6.99014518e-02, 1.30407264e-01, 9.85108219e-01,
  2.59908154e-04,-6.45810470e-04,-1.71934036e-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, -0.64727242,  3.29404696, -0.42850978,-40.65827026,
 -29.68877199, -2.28054664]

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([  6.40227815,   2.33712562,   5.96045379,   2.33712562,
        37.64566601, -12.25069849,   5.96045379, -12.25069849,
        11.20584216,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005963793226105019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30802748e-14, -9.30802748e-14,  1.00000000e+00,  8.66393756e-27,
        1.00000000e+00,  9.30802748e-14, -1.00000000e+00,  0.00000000e+00,
        9.30802748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10016126, -0.09611214,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.25593844e-06, 6.53957410e-05,-4.90510251e+00,-7.20536448e-03,
 -1.21130800e-03, 3.24953721e-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,
  9.52078721e-02,-6.98947565e-02, 1.30408634e-01, 9.85089495e-01,
  2.37363433e-04,-7.87787664e-04,-1.72040721e-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 , 1.79417931,-0.54988728,
  0.78478153,-4.56777036,28.79940034, 1.36236887]

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([ 6.4019187 , -2.5465752 ,  5.87362901, -2.5465752 , 33.91348317,
       11.92793548,  5.87362901, 11.92793548, 11.57340377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005963362732514469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23232232e-07, -8.23232240e-07,  1.00000000e+00, -6.77711315e-13,
        1.00000000e+00,  8.23232240e-07, -1.00000000e+00,  1.00974196e-28,
       -8.23232232e-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([ 0.08302311, -0.06503863,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.85378700e-05, 7.73968881e-05,-4.90514419e+00,-7.20453642e-03,
 -1.20283910e-03, 8.91765224e-06]


--- 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,
  9.51976260e-02,-6.98901833e-02, 1.30412306e-01, 9.85071175e-01,
  2.16583613e-04,-8.73321175e-04,-1.72145200e-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,  1.761507  , -0.53048871,  0.57529087, -3.98519236,
  27.95327731,  1.11356135]

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([ 6.42222481,  3.92312501, -5.08468895,  3.92312501, 40.7908011 ,
       26.51729981, -5.08468895, 26.51729981, 26.88182091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005987683650119806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00589252e-06, -1.00589260e-06,  1.00000000e+00, -1.01181984e-12,
        1.00000000e+00,  1.00589260e-06, -1.00000000e+00,  2.01948392e-28,
       -1.00589252e-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([ 0.08302592, -0.06503586,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.52629496e-05, 5.55906509e-05,-4.90507631e+00,-7.20603645e-03,
 -1.19443107e-03, 1.14293465e-05]


--- 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,
  9.51943145e-02,-6.98876683e-02, 1.30417555e-01, 9.85053205e-01,
  1.98240839e-04,-9.03947585e-04,-1.72247864e-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,
  1.73361069e+00,-5.14580553e-01, 3.94433231e-01,-3.52491084e+00,
  2.72538140e+01, 9.17222978e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005974232601536619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17134862e-07, -9.17135071e-07,  1.00000000e+00, -8.41136547e-13,
        1.00000000e+00,  9.17135071e-07, -1.00000000e+00,  0.00000000e+00,
       -9.17134862e-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([ 0.08302746, -0.06503349,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.20186210e-05, 3.56358021e-05,-4.90503107e+00,-7.20696388e-03,
 -1.18939427e-03, 1.28541497e-05]


--- 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,
  9.51978434e-02,-6.98871598e-02, 1.30423761e-01, 9.85035536e-01,
  1.82858507e-04,-8.80923875e-04,-1.72349019e-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,  1.71012529, -0.50161176,  0.2390925 , -3.16181001,
  26.67936185,  0.76236029]

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: -0.0005930646279200836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.83893309e-07, -5.83893693e-07,  1.00000000e+00, -3.40931621e-13,
        1.00000000e+00,  5.83893693e-07, -1.00000000e+00, -5.04870979e-29,
       -5.83893309e-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([ 0.08302799, -0.06503143,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.71916083e-06, 1.71051308e-05,-4.90500638e+00,-7.20739952e-03,
 -1.18766136e-03, 1.32727490e-05]


--- 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,
  9.52070747e-02,-6.98911385e-02, 1.30430268e-01, 9.85017797e-01,
  1.90472826e-04,-8.07944626e-04,-1.72450719e-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 ,  1.42559693, -1.12179767,  0.07523953,  7.02113106,
  26.58563502, -0.28911002]

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: -0.0005863343516635268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46749087e-14, -2.75503038e-08,  1.00000000e+00, -2.60832249e-21,
        1.00000000e+00,  2.75503038e-08, -1.00000000e+00, -3.76158192e-37,
       -9.46749087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08503824, -0.0599271 ,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.29738835e-06,-3.16749345e-07,-4.90500065e+00,-7.20740573e-03,
 -1.18917519e-03, 1.27449555e-05]


--- 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,
  9.52219612e-02,-6.98995462e-02, 1.30436621e-01, 9.84999941e-01,
  2.21103429e-04,-6.86074930e-04,-1.72553168e-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, 1.41378468,-1.10725695,
 -0.038391  , 7.11983698,26.06344937,-0.39295548]

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: -0.0005779745501785777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60442829e-14,  1.75441018e-07,  1.00000000e+00, -1.68501068e-20,
        1.00000000e+00, -1.75441018e-07, -1.00000000e+00,  0.00000000e+00,
        9.60442829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08503851, -0.05992513,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.46358490e-06,-1.49602022e-05,-4.90501130e+00,-7.20829621e-03,
 -1.19300203e-03, 1.17198980e-05]


--- 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,
  9.52424654e-02,-6.99123367e-02, 1.30442435e-01, 9.84981920e-01,
  2.74761053e-04,-5.16155479e-04,-1.72656522e-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,  1.40445289, -1.09569972, -0.13482369,  7.1949467 ,
  25.65103948, -0.47268973]

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: -0.0005682339151592939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.58423981e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.58423981e-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([ 0.08503817, -0.05992312,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.78119628e-05,-2.83974395e-05,-4.90504014e+00,-7.21007551e-03,
 -1.20001699e-03, 1.03726496e-05]


--- 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,
  9.52604824e-02,-6.99119582e-02, 1.30446150e-01, 9.84963422e-01,
  2.42182569e-04,-3.91306693e-04,-1.72762398e-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, -0.62183253,  3.29224302, -0.52472755,-38.58021746,
 -29.64197844, -1.25551556]

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([ 6.10917115,  2.21695282, -5.69272275,  2.21695282, 29.61138304,
        9.1526142 , -5.69272275,  9.1526142 ,  9.67353126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005612377522416223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89084412e-14, -9.89084412e-14,  1.00000000e+00,  9.78287975e-27,
        1.00000000e+00,  9.89084412e-14, -1.00000000e+00,  0.00000000e+00,
        9.89084412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10012165, -0.09614032,  0.06198266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.17821310e-05,-4.07583477e-05,-4.90508641e+00,-7.21276026e-03,
 -1.21016786e-03, 8.71044650e-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,
  9.52760240e-02,-6.98986341e-02, 1.30447193e-01, 9.84944263e-01,
  1.24063326e-04,-3.09543329e-04,-1.72871879e-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, -0.61883293,  3.23639706, -0.66794199,-38.40611476,
 -28.60846164, -1.81021844]

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([ 6.08417143, -0.09275787,  6.0834643 , -0.09275787, 46.41549013,
        0.61495345,  6.0834643 ,  0.61495345,  6.09354796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005582308090849725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.94412174e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.94412174e-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([ 0.10011663, -0.09614372,  0.06198275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.26085675e-06,-3.46610296e-05,-4.90504229e+00,-7.20812913e-03,
 -1.22126961e-03, 4.17762518e-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,
  9.52925421e-02,-6.98819042e-02, 1.30450051e-01, 9.84925012e-01,
 -1.96848274e-05,-2.24117836e-04,-1.72981703e-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,  0.24412735,  0.8514745 ,  0.45381086,-12.93811063,
  -0.41179841, -0.17316429]

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([ 6.03689749, -1.43441646,  5.86400722, -1.43441646, 33.86761168,
        6.80777375,  5.86400722,  6.80777375,  7.70217216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005525376873411981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.29106952e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.29106952e-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([ 0.09357674, -0.07503399,  0.06198293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.62004909e-05,-1.71697275e-05,-4.90505805e+00,-7.19876511e-03,
 -1.22907264e-03, 2.47613035e-06]


--- 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,
  9.53136289e-02,-6.98724059e-02, 1.30453201e-01, 9.84905585e-01,
 -1.20116635e-04,-8.89289480e-05,-1.73092366e-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 ,  1.14218424, -1.80793534,  0.07277627, 17.02750178,
  28.25306306, -0.43276537]

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([ 6.02935766, -1.76017549,  5.7667093 , -1.76017549, 30.27439036,
        7.40032315,  5.7667093 ,  7.40032315,  8.28816191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005516287508472995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.03156798e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.03156798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08720933, -0.054448  ,  0.06198295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.77115837e-05,-1.54819020e-05,-4.90508073e+00,-7.18911630e-03,
 -1.23410553e-03, 8.45362885e-07]


--- 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,
  9.53290785e-02,-6.98723458e-02, 1.30455889e-01, 9.84887298e-01,
 -1.42048963e-04, 2.39954045e-05,-1.73196392e-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, -1.40931917, -2.35952137, -0.11519216, 40.58456246,
  -4.17075057,  3.36226556]

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([ 6.01421528,  6.01301341,  0.1202297 ,  6.01301341,  6.02667646,
       -0.62321721,  0.1202297 , -0.62321721, 37.18299766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00054980249098599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00965623e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00965623e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10654681, -0.04879071,  0.06198301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.95834925e-05,-3.82124207e-05,-4.90507778e+00,-7.18301267e-03,
 -1.23950125e-03,-2.24524514e-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,
  9.53390055e-02,-6.98815986e-02, 1.30457513e-01, 9.84870015e-01,
 -8.73309940e-05, 1.13818383e-04,-1.73294642e-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, -1.3806394 , -2.32823674, -0.26636412, 39.74649183,
  -4.73876991,  2.93109291]

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([  6.01423429,  -4.70377631,  -3.74773298,  -4.70377631,
        23.95449384, -22.51680369,  -3.74773298, -22.51680369,
        34.27505443,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005498047837374648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00965202e-13, -1.00965202e-13,  1.00000000e+00,  1.01939721e-26,
        1.00000000e+00,  1.00965202e-13, -1.00000000e+00,  0.00000000e+00,
        1.00965202e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10655097, -0.04879329,  0.06198301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.04133319e-06,-2.99497298e-05,-4.90503268e+00,-7.18012526e-03,
 -1.24170805e-03,-1.39713840e-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,
  9.53435058e-02,-6.99000587e-02, 1.30457547e-01, 9.84853614e-01,
  4.25255068e-05, 1.79910550e-04,-1.73387786e-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,-1.35667725,-2.30180754,
 -0.39727236,39.05680267,-5.17560286, 2.59314755]

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([  5.99113675,  -4.89864508,  -3.44920222,  -4.89864508,
        25.45896363, -27.64870494,  -3.44920222, -27.64870494,
        45.25853363,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005470168764922095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.0739889e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.0739889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10655476, -0.04879442,  0.0619831 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.36493053e-05,-1.46460483e-05,-4.90502805e+00,-7.18214985e-03,
 -1.24393949e-03,-6.51865934e-07]


--- 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,
  9.53454930e-02,-6.99050748e-02, 1.30456527e-01, 9.84836556e-01,
  8.08364745e-05, 1.99850421e-04,-1.73484613e-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,
 -6.28273677e-01, 3.36098592e+00,-2.63412964e-01,-4.10780074e+01,
 -3.06630856e+01,-1.87734102e+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([  5.99462323,  -1.38077712,  -5.83343486,  -1.38077712,
        50.93066226, -10.63638425,  -5.83343486, -10.63638425,
         8.51226102,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005474378768835358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01401736e-13, -1.01401736e-13,  1.00000000e+00,  1.02823121e-26,
        1.00000000e+00,  1.01401736e-13, -1.00000000e+00,  0.00000000e+00,
        1.01401736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10008531, -0.09615595,  0.06198308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.43179891e-05, 7.34690082e-06,-4.90506197e+00,-7.18900436e-03,
 -1.24602973e-03,-3.83617524e-08]


--- 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,
  9.53449835e-02,-6.98968968e-02, 1.30453755e-01, 9.84818702e-01,
  2.92056436e-05, 1.75790033e-04,-1.73585981e-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,
 -6.24189414e-01, 3.29851856e+00,-4.38253427e-01,-4.04718157e+01,
 -2.94683949e+01,-2.31249446e+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([  6.02217668,   1.92824848,   5.70512662,   1.92824848,
        40.40909863, -11.62227137,   5.70512662, -11.62227137,
         9.95033262,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005507628212444021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00789576e-13, -1.00789576e-13,  1.00000000e+00,  1.01585386e-26,
        1.00000000e+00,  1.00789576e-13, -1.00000000e+00,  0.00000000e+00,
        1.00789576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10008012, -0.09615483,  0.06198298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.18169655e-05, 4.23880337e-06,-4.90500439e+00,-7.18987037e-03,
 -1.25119695e-03,-2.67566562e-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,
  9.53419927e-02,-6.98757361e-02, 1.30448619e-01, 9.84799917e-01,
 -1.11011692e-04, 1.09463050e-04,-1.73692544e-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,
 -6.20303654e-01, 3.24569359e+00,-5.90739236e-01,-3.99519093e+01,
 -2.85011484e+01,-2.64571247e+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([  6.01981939,   2.26492298,   5.57748593,   2.26492298,
        47.72891392, -16.93735991,   5.57748593, -16.93735991,
        12.89779562,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000550478509068697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00841632e-13, -1.00841632e-13,  1.00000000e+00,  1.01690347e-26,
        1.00000000e+00,  1.00841632e-13, -1.00000000e+00,  0.00000000e+00,
        1.00841632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10007625, -0.09615528,  0.06198299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.86019803e-05, 1.46235994e-05,-4.90501204e+00,-7.18569683e-03,
 -1.25298050e-03,-2.21815469e-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,
  9.53330906e-02,-6.98644556e-02, 1.30444505e-01, 9.84782401e-01,
 -1.72196178e-04, 2.18282624e-05,-1.73791809e-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,-1.47783179,-2.47008301,
  0.25535333,40.76594651,-3.62872865, 3.70674015]

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([ 6.07336858,  0.96369274,  5.99642412,  0.96369274, 34.27038543,
       -4.53157749,  5.99642412, -4.53157749,  6.80164401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005569306861940293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98366786e-14, -2.99020072e-13,  1.00000000e+00,  1.49021672e-26,
        1.00000000e+00,  2.99020072e-13, -1.00000000e+00,  0.00000000e+00,
        4.98366786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10657312, -0.04880396,  0.06198279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.80881586e-05, 3.80336507e-05,-4.90508091e+00,-7.17651423e-03,
 -1.25158681e-03, 1.12768912e-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,
  9.53184242e-02,-6.98628533e-02, 1.30440586e-01, 9.84765983e-01,
 -1.56149973e-04,-8.82997651e-05,-1.73884811e-01]

qacc:
[-2.84987465e+00, 1.75362736e+00,-7.92622092e+00, 1.44081587e+01,
  2.28887377e+00,-2.85929175e+00, 1.38646081e+01,-2.81980852e+01,
 -4.62388845e+00,-1.41955645e+00, 5.03343904e+00,-7.03562852e+00,
 -4.62988975e-01, 3.65622193e-01, 1.82822041e+01,-6.21847267e+01,
 -1.44107060e+00,-2.41952645e+00, 4.86934815e-02, 3.99823099e+01,
 -4.36499352e+00, 3.17786411e+00]

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([  6.11996459,  -3.09873347,  -5.27748212,  -3.09873347,
        36.21782504, -17.67230003,  -5.27748212, -17.67230003,
        16.49645594,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005625352528224464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93401533e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.93401533e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10657787, -0.04880699,  0.06198262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.18031975e-05, 3.47779044e-05,-4.90504245e+00,-7.17378701e-03,
 -1.24137474e-03, 7.55692805e-07]


--- 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,
  9.52981155e-02,-6.98707568e-02, 1.30436142e-01, 9.84750507e-01,
 -6.43862470e-05,-2.21827677e-04,-1.73972373e-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, -1.41058057, -2.37645076, -0.13111652, 39.31677508,
  -4.93902505,  2.75564873]

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([  6.13274205,  -3.39257918,  -5.10890708,  -3.39257918,
        42.78954866, -24.34202015,  -5.10890708, -24.34202015,
        22.2971055 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005640707236726911
  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([ 0.10658214, -0.04880845,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.54099942e-06, 3.94521450e-05,-4.90504661e+00,-7.17595529e-03,
 -1.23127584e-03, 3.94081735e-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,
  9.52825817e-02,-6.98861951e-02, 1.30433307e-01, 9.84734744e-01,
  7.07716335e-05,-3.07588391e-04,-1.74061440e-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,  1.19372018, -1.88369173,  0.40202824, 17.21094555,
  27.294095  , -0.76954798]

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([  6.15485551,  -5.54716095,  -2.66669305,  -5.54716095,
        15.73513759, -19.92856534,  -2.66669305, -19.92856534,
        47.60955519,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000566726823581859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89752284e-14, -1.95900914e-13,  1.00000000e+00,  9.59429198e-27,
        1.00000000e+00,  1.95900914e-13, -1.00000000e+00,  0.00000000e+00,
        4.89752284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08724656, -0.05442985,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.54134153e-06, 5.15450170e-05,-4.90509121e+00,-7.18295030e-03,
 -1.22108980e-03,-1.60138901e-08]


--- 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,
  9.52717478e-02,-6.99090234e-02, 1.30431370e-01, 9.84718615e-01,
  2.49257321e-04,-3.46961954e-04,-1.74152422e-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,
  1.17497993e+00,-1.84750850e+00, 2.24682523e-01, 1.72958100e+01,
  2.66102458e+01,-9.82676568e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005676337570225676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.7793957e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.7793957e-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([ 0.08724872, -0.05442785,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.15448883e-05, 4.85635631e-05,-4.90508616e+00,-7.19304333e-03,
 -1.21581017e-03, 2.21478342e-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,
  9.52583283e-02,-6.99181277e-02, 1.30429148e-01, 9.84701790e-01,
  3.34728314e-04,-4.33159988e-04,-1.74247196e-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,
 -6.46410005e-01, 3.43098808e+00,-7.11675968e-02,-4.17199246e+01,
 -3.11544248e+01,-1.90620448e+00]

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([ 6.21740251,  1.81844373, -5.94553247,  1.81844373, 35.25219144,
        8.88030298, -5.94553247,  8.88030298,  8.93344709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005742318980293953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.66702676e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.66702676e-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([ 0.10004687, -0.09614539,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.85164679e-05, 4.89940835e-05,-4.90510751e+00,-7.20528882e-03,
 -1.21371103e-03, 4.65151493e-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,
  9.52423427e-02,-6.99138098e-02, 1.30425808e-01, 9.84684139e-01,
  3.29064317e-04,-5.63989438e-04,-1.74346551e-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 , -0.64151419,  3.35556511, -0.27971091,-40.98279825,
 -29.91527123, -2.29990177]

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([  6.25848219,   1.78622249,   5.9981671 ,   1.78622249,
        40.43343513, -10.17712051,   5.9981671 , -10.17712051,
         9.28917493,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005791562483735829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58483162e-14, -1.91696632e-13,  1.00000000e+00,  1.83737994e-26,
        1.00000000e+00,  1.91696632e-13, -1.00000000e+00,  0.00000000e+00,
        9.58483162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10004171, -0.09614383,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.32353330e-05, 4.13708730e-05,-4.90505239e+00,-7.21012101e-03,
 -1.21276446e-03, 4.57034877e-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,
  9.52238085e-02,-6.98963253e-02, 1.30420622e-01, 9.84665539e-01,
  2.33863807e-04,-7.37682286e-04,-1.74451075e-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, -0.6371437 ,  3.29163636, -0.46125282,-40.34735117,
 -28.90976356, -2.5953565 ]

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([  6.26353627,   2.15185139,   5.88229736,   2.15185139,
        48.45321195, -15.43375089,   5.88229736, -15.43375089,
        11.90948312,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000579761892231509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.5748189e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.5748189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10003788, -0.09614408,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.94846122e-06, 4.80647815e-05,-4.90506364e+00,-7.20983209e-03,
 -1.20835373e-03, 7.67184561e-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,
  9.52124914e-02,-6.98810705e-02, 1.30419002e-01, 9.84647383e-01,
  1.40354738e-04,-8.51671490e-04,-1.74553102e-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,  1.8042695 , -0.55740889,  0.89135278, -4.3740612 ,
  29.5420529 ,  1.26068179]

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([ 6.3112332 , -2.58955781,  5.75550648, -2.58955781, 35.44934366,
       13.11002288,  5.75550648, 13.11002288, 12.20978658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000585475914358289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.70365696e-07, -6.70365787e-07,  1.00000000e+00, -4.49390228e-13,
        1.00000000e+00,  6.70365787e-07, -1.00000000e+00,  0.00000000e+00,
       -6.70365696e-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([ 0.08305586, -0.06497736,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.21824749e-05, 6.83896142e-05,-4.90513690e+00,-7.20447417e-03,
 -1.20068753e-03, 1.37286606e-05]


--- 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,
  9.52058996e-02,-6.98734281e-02, 1.30419590e-01, 9.84629074e-01,
  9.20073768e-05,-9.14324229e-04,-1.74656070e-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,  1.18131472, -1.90311104,  0.55192016, 17.75331899,
  29.21558513, -0.49988921]

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([  6.362227  ,   5.27658839,   3.55465152,   5.27658839,
        21.85154969, -22.99262806,   3.55465152, -22.99262806,
        40.49289595,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005915829344444873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40752415e-13, -1.87669887e-13,  1.00000000e+00,  2.64149899e-26,
        1.00000000e+00,  1.87669887e-13, -1.00000000e+00,  0.00000000e+00,
        1.40752415e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08727214, -0.05442352,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.13457365e-05, 4.67659833e-05,-4.90507706e+00,-7.20137024e-03,
 -1.19310969e-03, 1.46949999e-05]


--- 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,
  9.52039641e-02,-6.98732326e-02, 1.30421579e-01, 9.84610529e-01,
  8.83480968e-05,-9.27809082e-04,-1.74760515e-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, 1.16406865,-1.86171945,
  0.35019993,17.70619291,28.10841178,-0.77014649]

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([ 6.37965659,  0.23703011, -6.37525175,  0.23703011, 56.80162432,
        1.87467495, -6.37525175,  1.87467495,  6.44935649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936701874426631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67525171e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.67525171e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08727633, -0.05442267,  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:
[ 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,
  1.88401467e-05, 2.75578303e-05,-4.90502455e+00,-7.20037559e-03,
 -1.18710483e-03, 1.39468672e-05]


--- 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,
  9.52066253e-02,-6.98803455e-02, 1.30424270e-01, 9.84591677e-01,
  1.28953393e-04,-8.93882230e-04,-1.74866848e-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,  1.14919059, -1.82708992,  0.17583086, 17.64797484,
  27.20865623, -0.97893643]

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: -0.0005920667519411088
  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([ 0.0872792 , -0.05442124,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.48729022e-06, 1.24506390e-05,-4.90500168e+00,-7.20155213e-03,
 -1.18452562e-03, 1.35266424e-05]


--- 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,
  9.52138329e-02,-6.98946521e-02, 1.30427065e-01, 9.84572449e-01,
  2.13454843e-04,-8.13959176e-04,-1.74975383e-01]

qacc:
[-2.68106480e+00, 9.12646322e-01,-4.10505316e+00, 7.87531292e+00,
  7.46368447e+00,-1.43632440e+00, 6.52274865e+00,-1.17921249e+01,
 -1.71512862e+00, 4.53365947e-01,-2.13993275e+00, 3.49082523e+00,
 -5.20064359e-01, 7.21702255e-01, 9.21020503e-01,-3.11243364e+00,
  1.13659491e+00,-1.79843464e+00, 2.57742420e-02, 1.75873284e+01,
  2.64814204e+01,-1.13937466e+00]

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: -0.0005875199661367764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72419274e-14, -2.83451565e-13,  1.00000000e+00, -1.33907983e-26,
        1.00000000e+00,  2.83451565e-13, -1.00000000e+00,  0.00000000e+00,
       -4.72419274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08728102, -0.05441936,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.47563684e-05, 9.86746655e-07,-4.90500605e+00,-7.20491595e-03,
 -1.18523896e-03, 1.33988389e-05]


--- 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,
  9.52278856e-02,-6.99109751e-02, 1.30430528e-01, 9.84553436e-01,
  3.01541639e-04,-6.83075189e-04,-1.75082764e-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,  1.71128915, -0.50411716,  0.16702909, -2.69299136,
  25.40124934,  0.57985625]

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([ 6.2748291 , -2.04908997, -5.93082714, -2.04908997, 32.67596839,
       -9.12154551, -5.93082714, -9.12154551,  9.42630645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005811150065259188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53675678e-07, -5.53675771e-07,  1.00000000e+00, -3.06556808e-13,
        1.00000000e+00,  5.53675771e-07, -1.00000000e+00, -5.04870979e-29,
       -5.53675678e-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([ 0.08305998, -0.06496721,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.59241610e-05,-7.16056524e-06,-4.90503588e+00,-7.21047568e-03,
 -1.18913935e-03, 1.35363576e-05]


--- 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,
  9.52487268e-02,-6.99292400e-02, 1.30434174e-01, 9.84534594e-01,
  3.93206344e-04,-5.01589461e-04,-1.75189118e-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, 1.69710345,-0.48544813,
  0.04559031,-2.66809985,25.22348763, 0.51168496]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005737926932131432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83721315e-14, -1.93488526e-13,  1.00000000e+00,  9.35945243e-27,
        1.00000000e+00,  1.93488526e-13, -1.00000000e+00,  0.00000000e+00,
        4.83721315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08302103, -0.06505819,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.32124298e-05,-2.30146617e-05,-4.90506748e+00,-7.21561073e-03,
 -1.19830821e-03, 1.23554310e-05]


--- 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,
  9.52670959e-02,-6.99340060e-02, 1.30436639e-01, 9.84515300e-01,
  3.96469375e-04,-3.66319637e-04,-1.75297840e-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,
 -6.18014158e-01, 3.37471649e+00,-2.95046729e-01,-3.94694968e+01,
 -3.04946629e+01,-1.17405419e+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([ 6.23073306,  3.05260678, -5.43172407,  3.05260678, 29.49111602,
       13.07224036, -5.43172407, 13.07224036, 13.57727884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005758302271076654
  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([ 0.09999274, -0.09615918,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.06650991e-05,-3.83505724e-05,-4.90511515e+00,-7.22040834e-03,
 -1.21057573e-03, 1.03125797e-05]


--- 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,
  9.52830118e-02,-6.99255492e-02, 1.30437211e-01, 9.84495373e-01,
  3.12366940e-04,-2.75035934e-04,-1.75410056e-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, -0.61328556,  3.30569422, -0.47339129,-39.15149734,
 -29.31080225, -1.75105122]

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([ 6.23264358, -0.10111178,  6.23182336, -0.10111178, 41.95946736,
        0.57967025,  6.23182336,  0.57967025,  6.24204877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005760592673821618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92727222e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92727222e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09998715, -0.09616121,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.88907081e-06,-3.69718722e-05,-4.90504636e+00,-7.21774349e-03,
 -1.22284985e-03, 4.71779360e-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,
  9.52964933e-02,-6.99041000e-02, 1.30435272e-01, 9.84474646e-01,
  1.41795314e-04,-2.25938532e-04,-1.75526640e-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, -0.60862645,  3.24809476, -0.62749509,-38.86478462,
 -28.35068391, -2.20105445]

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([ 6.20668493,  0.29034957,  6.19988992,  0.29034957, 52.61321011,
       -2.1732829 ,  6.19988992, -2.1732829 ,  6.30846283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000572946585675943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68871316e-14, -9.68871316e-14,  1.00000000e+00,  9.38711626e-27,
        1.00000000e+00,  9.68871316e-14, -1.00000000e+00,  0.00000000e+00,
        9.68871316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09998297, -0.0961643 ,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.22629417e-05,-2.36997437e-05,-4.90504066e+00,-7.21026994e-03,
 -1.23170095e-03, 2.10613580e-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,
  9.53075579e-02,-6.98698490e-02, 1.30430292e-01, 9.84452959e-01,
 -1.14487229e-04,-2.17579300e-04,-1.75648260e-01]

qacc:
[ -0.2002288 , -1.65389207,  8.23885764,-16.91763559, -1.40951111,
  -2.48351177, 10.05700071,-17.63247631,  2.64763855,  1.79601258,
  -7.72162473, 15.14596296, -0.26287371,  0.19622631, -1.54125292,
   5.14004509, -0.60421593,  3.2004607 , -0.76045791,-38.61529761,
 -27.57558856, -2.5511834 ]

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([ 6.15866946,  0.76767425,  6.1106371 ,  0.76767425, 65.04359276,
       -7.39766387,  6.1106371 , -7.39766387,  7.08803181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005671847708137584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95742742e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95742742e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09997991, -0.09616823,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.10871011e-05, 1.41953645e-06,-4.90509466e+00,-7.19797100e-03,
 -1.23735340e-03, 2.30137212e-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,
  9.53233885e-02,-6.98433641e-02, 1.30428223e-01, 9.84431288e-01,
 -3.25561665e-04,-1.53782239e-04,-1.75769479e-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, 1.19152537,-1.94153357,
  0.72771313,17.38389358,31.25830955, 0.19738934]

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([ 6.2144163 , -1.62780391,  5.99743482, -1.62780391, 35.86153539,
        8.04672293,  5.99743482,  8.04672293,  8.39843121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005738738012916605
  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([ 0.08730778, -0.05440978,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.09527011e-04, 3.82439101e-05,-4.90520579e+00,-7.18084011e-03,
 -1.23997721e-03, 5.16870410e-06]


--- 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,
  9.53358120e-02,-6.98277287e-02, 1.30427883e-01, 9.84410428e-01,
 -4.52856866e-04,-9.00381246e-05,-1.75886029e-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, -0.85179882, -2.71236361,  0.4323261 , 41.24259524,
   7.33615719,  2.36263632]

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([ 6.2980138 ,  6.29732035, -0.09345725,  6.29732035,  6.30502871,
        0.47267761, -0.09345725,  0.47267761, 38.14789555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005838925008921636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50708412e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.50708412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10192053, -0.04735131,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.37456429e-05, 3.25737188e-06,-4.90514694e+00,-7.16905049e-03,
 -1.23952236e-03, 6.18610694e-07]


--- 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,
  9.53449431e-02,-6.98226996e-02, 1.30428347e-01, 9.84390227e-01,
 -4.98575664e-04,-2.80200633e-05,-1.75998953e-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 , -0.82310243, -2.65157603,  0.20110546, 40.30443774,
   6.32371117,  1.83867235]

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([  6.35350737,  -3.13384086,  -5.52685239,  -3.13384086,
        31.41918522, -14.21276339,  -5.52685239, -14.21276339,
        14.41244135,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005905387307757054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88001729e-13, -9.40008645e-14,  1.00000000e+00,  1.76723251e-26,
        1.00000000e+00,  9.40008645e-14, -1.00000000e+00,  0.00000000e+00,
        1.88001729e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10192598, -0.04735501,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.23768463e-05,-1.06376685e-05,-4.90505810e+00,-7.16102905e-03,
 -1.23692873e-03,-1.25410524e-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,
  9.53483392e-02,-6.98271982e-02, 1.30428783e-01, 9.84371096e-01,
 -4.66394267e-04, 1.02394474e-05,-1.76106015e-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,
 -1.43375451e+00,-2.38192217e+00,-7.06478321e-03, 4.04331841e+01,
 -4.84011265e+00, 2.97258991e+00]

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([ 6.37277803,  0.89774842, -6.30922718,  0.89774842, 50.14461398,
        6.22835341, -6.30922718,  6.22835341,  7.25901882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005928464525184196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36349556e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.36349556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10667771, -0.04887025,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.64184426e-05,-1.41278603e-05,-4.90501338e+00,-7.15789505e-03,
 -1.23562915e-03,-2.94687647e-07]


--- 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,
  9.53461227e-02,-6.98410683e-02, 1.30428483e-01, 9.84352903e-01,
 -3.58079843e-04, 2.41571987e-05,-1.76207926e-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, -1.40315018, -2.34289047, -0.18415824, 39.61513341,
  -5.27812616,  2.61267677]

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([  6.36168092,  -4.79135787,  -4.18495805,  -4.79135787,
        30.25931966, -27.3604032 ,  -4.18495805, -27.3604032 ,
        37.68660265,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000591517539495337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38453174e-14, -9.38453174e-14,  1.00000000e+00,  8.80694359e-27,
        1.00000000e+00,  9.38453174e-14, -1.00000000e+00,  0.00000000e+00,
        9.38453174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10668152, -0.04887156,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.22775192e-05,-1.38737614e-06,-4.90500474e+00,-7.15916002e-03,
 -1.23406186e-03, 1.90231780e-07]


--- 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,
  9.53383951e-02,-6.98641790e-02, 1.30426835e-01, 9.84335527e-01,
 -1.75083333e-04, 1.33010369e-05,-1.76305244e-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,
 -1.37775653e+00,-2.31015181e+00,-3.36848595e-01, 3.89395355e+01,
 -5.61418099e+00, 2.32870264e+00]

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: -0.0005870824307941669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72771355e-14, -1.89108542e-13,  1.00000000e+00, -8.94051015e-27,
        1.00000000e+00,  1.89108542e-13, -1.00000000e+00,  0.00000000e+00,
       -4.72771355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10668515, -0.04887151,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.35696997e-05, 1.83213871e-05,-4.90503632e+00,-7.16531678e-03,
 -1.23237550e-03, 5.52299236e-07]


--- 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,
  9.53252400e-02,-6.98964220e-02, 1.30423314e-01, 9.84318848e-01,
  8.14164534e-05,-2.26506638e-05,-1.76398407e-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, -1.35688543, -2.28306059, -0.46817176, 38.38821509,
  -5.87207707,  2.10470063]

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: -0.000580205127944794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56750441e-14, -9.56750441e-14,  1.00000000e+00,  9.15371407e-27,
        1.00000000e+00,  9.56750441e-14, -1.00000000e+00,  0.00000000e+00,
        9.56750441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10668862, -0.0488704 ,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.81485401e-05, 4.46841345e-05,-4.90510622e+00,-7.17628468e-03,
 -1.23043686e-03, 7.72617932e-07]


--- 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,
  9.53095411e-02,-6.99146317e-02, 1.30420474e-01, 9.84301471e-01,
  2.41179437e-04,-1.07445395e-04,-1.76495168e-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,
 -6.35947245e-01, 3.50831250e+00, 1.70146004e-01,-4.33020259e+01,
 -3.25708216e+01,-1.82922494e+00]

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([  6.26443454,  -1.29203839,  -6.12974525,  -1.29203839,
        61.03541953, -11.54472366,  -6.12974525, -11.54472366,
         8.69785151,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005798695299576995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57304158e-14, -9.57304158e-14,  1.00000000e+00,  9.16431252e-27,
        1.00000000e+00,  9.57304158e-14, -1.00000000e+00,  0.00000000e+00,
        9.57304158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09993241, -0.09616652,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.65083389e-05, 7.75142888e-05,-4.90521300e+00,-7.19199661e-03,
 -1.22814702e-03, 8.40957683e-07]


--- 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,
  9.52913203e-02,-6.99191532e-02, 1.30417345e-01, 9.84283275e-01,
  3.06718694e-04,-2.38460762e-04,-1.76596387e-01]

qacc:
[ 2.77304791e+00, 4.65139291e-01, 1.55951728e-01,-6.01686210e+00,
  3.11424257e+00,-1.73374372e-01,-1.93861265e+00, 1.10904513e+01,
  2.28395493e+00, 1.39138153e+00,-2.27210432e+00,-5.71610330e+00,
 -1.07396041e-01, 1.89346934e-02, 3.37924505e+00,-1.13139173e+01,
 -6.30484221e-01, 3.42206365e+00,-7.22937206e-02,-4.22935583e+01,
 -3.10631176e+01,-2.25526280e+00]

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([  6.34246456,   2.45831573,   5.84666917,   2.45831573,
        30.9006586 , -10.32584413,   5.84666917, -10.32584413,
        10.68411349,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005892163011895907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.42118389e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.42118389e-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([ 0.0999262 , -0.09616214,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.92506971e-05, 5.85317666e-05,-4.90510881e+00,-7.20126453e-03,
 -1.22819969e-03,-8.61664374e-07]


--- 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,
  9.52705974e-02,-6.99102817e-02, 1.30413080e-01, 9.84264144e-01,
  2.80169464e-04,-4.13576523e-04,-1.76702703e-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, -0.62551585,  3.34825919, -0.28399963,-41.42705852,
 -29.83578047, -2.57396879]

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([  6.37597476,   2.74737685,   5.75369226,   2.74737685,
        36.92991332, -14.58944617,   5.75369226, -14.58944617,
        13.3424069 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000593229272122589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35745315e-14, -9.35745315e-14,  1.00000000e+00,  8.75619295e-27,
        1.00000000e+00,  9.35745315e-14, -1.00000000e+00,  0.00000000e+00,
        9.35745315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09992154, -0.09616022,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.92272855e-06, 5.51734903e-05,-4.90507734e+00,-7.20526210e-03,
 -1.22459084e-03, 9.06622096e-07]


--- 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,
  9.52473897e-02,-6.98882674e-02, 1.30406942e-01, 9.84243962e-01,
  1.63330336e-04,-6.31086025e-04,-1.76814589e-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, -0.62120831,  3.28567969, -0.46814004,-40.69001518,
 -28.84155273, -2.80875656]

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([  6.37325005,   3.07380709,   5.58301228,   3.07380709,
        43.27524191, -20.31691828,   5.58301228, -20.31691828,
        17.55901937,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005929029779422751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36260287e-14, -1.87252057e-13,  1.00000000e+00,  1.75316665e-26,
        1.00000000e+00,  1.87252057e-13, -1.00000000e+00,  0.00000000e+00,
        9.36260287e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09991811, -0.09616028,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.78862642e-05, 6.64777921e-05,-4.90511255e+00,-7.20406591e-03,
 -1.21757460e-03, 5.84184488e-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,
  9.52290058e-02,-6.98742183e-02, 1.30404476e-01, 9.84223785e-01,
  9.17969457e-05,-7.93865004e-04,-1.76926261e-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,
  1.20595605e+00,-1.99129091e+00, 9.17877500e-01, 1.74574395e+01,
  3.09394712e+01, 8.65758382e-02]

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([ 6.4180186 , -1.50905907,  6.23808492, -1.50905907, 38.46688546,
        7.75296167,  6.23808492,  7.75296167,  8.29354246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005982645539579778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63934817e-14, -1.85573927e-13,  1.00000000e+00,  8.60942056e-27,
        1.00000000e+00,  1.85573927e-13, -1.00000000e+00,  0.00000000e+00,
        4.63934817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08734984, -0.05438717,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.01827232e-05, 9.15893459e-05,-4.90520983e+00,-7.19774715e-03,
 -1.20734198e-03, 1.37138934e-05]


--- 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,
  9.52153561e-02,-6.98679137e-02, 1.30404662e-01, 9.84203506e-01,
  6.51844131e-05,-9.04748006e-04,-1.77038518e-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,  1.18355769, -1.93614955,  0.66307695, 17.51498064,
  29.51239936, -0.31671023]

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([ 6.48406564,  1.18603601, -6.37467064,  1.18603601, 40.48479027,
        6.32598705, -6.37467064,  6.32598705,  7.66104385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006061780393539357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57878277e-14,  1.83151311e-13,  1.00000000e+00, -8.38610066e-27,
        1.00000000e+00, -1.83151311e-13, -1.00000000e+00,  0.00000000e+00,
        4.57878277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08735617, -0.05438661,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.95585440e-05, 6.71197152e-05,-4.90511302e+00,-7.19663571e-03,
 -1.19486755e-03, 1.33797983e-05]


--- 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,
  9.52063616e-02,-6.98691678e-02, 1.30406615e-01, 9.84183030e-01,
  8.31154954e-05,-9.66044449e-04,-1.77151976e-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 ,  1.16380154, -1.88964581,  0.44179533, 17.53008794,
  28.34447328, -0.63082165]

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([ 6.50825869,  0.96033818, -6.43701653,  0.96033818, 51.41933019,
        6.70028055, -6.43701653,  6.70028055,  7.50787322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006090786116069724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36709327e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.36709327e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08736071, -0.0543854 ,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.62998765e-05, 4.77578351e-05,-4.90505024e+00,-7.19761063e-03,
 -1.18602132e-03, 1.33793230e-05]


--- 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,
  9.52019538e-02,-6.98778250e-02, 1.30409571e-01, 9.84162278e-01,
  1.45238386e-04,-9.79630641e-04,-1.77267116e-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,  1.14665086, -1.85077785,  0.25067607, 17.51963123,
  27.39193896, -0.87490497]

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([ 6.498568  ,  0.66406125, -6.46455016,  0.66406125, 65.33189896,
        6.04356598, -6.46455016,  6.04356598,  7.11938428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006079166168345834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56568793e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.56568793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08736383, -0.05438364,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.01335211e-07, 3.27841370e-05,-4.90501804e+00,-7.20071474e-03,
 -1.18062813e-03, 1.36786123e-05]


--- 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,
  9.52033361e-02,-6.98911388e-02, 1.30413633e-01, 9.84141454e-01,
  2.30436056e-04,-9.43720720e-04,-1.77382794e-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,  1.44753755, -1.16414629,  0.2763471 ,  6.96738834,
  26.40122951, -0.28627462]

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([ 6.46065522, -1.46483288, -6.2924026 , -1.46483288, 40.49753717,
       -7.92357817, -6.2924026 , -7.92357817,  8.30521581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006033723799090596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.26131442e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.26131442e-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([ 0.08515691, -0.05982727,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.85062752e-05, 2.16748333e-05,-4.90501383e+00,-7.20597569e-03,
 -1.17854789e-03, 1.42498600e-05]


--- 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,
  9.52115891e-02,-6.99064746e-02, 1.30418557e-01, 9.84120890e-01,
  3.18748320e-04,-8.56381792e-04,-1.77497150e-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,  1.71768315, -0.50551227,  0.21576411, -3.02811607,
  25.58322188,  0.66636176]

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([ 6.41412056, -1.16417363, -6.3075861 , -1.16417363, 49.38014122,
       -7.93011897, -6.3075861 , -7.93011897,  7.87776057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005977976694321457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64297153e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.64297153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305727, -0.06499832,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.26000438e-05, 8.32568378e-06,-4.90502364e+00,-7.21208220e-03,
 -1.18085283e-03, 1.47515902e-05]


--- 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,
  9.52291051e-02,-6.99170957e-02, 1.30422786e-01, 9.84101812e-01,
  3.59489945e-04,-7.12691928e-04,-1.77603450e-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,  2.31575644,  1.17867017, -0.17393752,-28.40548281,
  23.50816036,  4.10681763]

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([ 6.35658073, -1.62857617, -6.14441684, -1.62857617, 27.85384584,
       -5.69784484, -6.14441684, -5.69784484,  7.86679311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005909067767810183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70452837e-07, -9.70452815e-07,  1.00000000e+00, -9.41778687e-13,
        1.00000000e+00,  9.70452815e-07, -1.00000000e+00,  0.00000000e+00,
       -9.70452837e-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([ 0.07772214, -0.07879384,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.99894740e-05,-9.09765671e-06,-4.90504082e+00,-7.21776217e-03,
 -1.18745490e-03, 1.43416257e-05]


--- 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,
  9.52558191e-02,-6.99228416e-02, 1.30425709e-01, 9.84084130e-01,
  3.52198816e-04,-5.12347422e-04,-1.77702108e-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,  2.29947267,  1.21880322, -0.32639323,-28.66311738,
  23.61344816,  3.89166766]

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.,
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       0., 0.])
  dim: 3
  dist: -0.0005831561244251104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.94943070e-15, -9.51908913e-14,  1.00000000e+00,  5.66331611e-28,
        1.00000000e+00,  9.51908913e-14, -1.00000000e+00,  0.00000000e+00,
        5.94943070e-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([ 0.07753572, -0.07926218,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.44810429e-05,-3.50270863e-05,-4.90505846e+00,-7.21961967e-03,
 -1.19971995e-03, 1.10131746e-05]


--- 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,
  9.52801322e-02,-6.99152693e-02, 1.30426876e-01, 9.84065819e-01,
  2.57874244e-04,-3.55899455e-04,-1.77804022e-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, -0.60019449,  3.3295547 , -0.43910918,-38.92458505,
 -29.33269195, -1.6283078 ]

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([ 6.28311083,  5.51487006, -3.01059626,  5.51487006, 16.79370426,
       19.25351393, -3.01059626, 19.25351393, 41.55208026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005821072187974508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53624168e-14, -9.53624168e-14,  1.00000000e+00,  9.09399054e-27,
        1.00000000e+00,  9.53624168e-14, -1.00000000e+00,  0.00000000e+00,
        9.53624168e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09986577, -0.09617953,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.10597715e-06,-5.52582718e-05,-4.90511123e+00,-7.21783716e-03,
 -1.21453571e-03, 5.50145017e-06]


--- 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,
  9.53020669e-02,-6.98946258e-02, 1.30425642e-01, 9.84046707e-01,
  7.73120530e-05,-2.41513980e-04,-1.77910129e-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 , -0.59463227,  3.26779676, -0.60005085,-38.6929501 ,
 -28.36351102, -2.1134655 ]

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([ 6.25783328, -0.39420232,  6.24540486, -0.39420232, 50.97367624,
        2.82240935,  6.24540486,  2.82240935,  6.43598031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005790784851995023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58611875e-14, -9.58611875e-14,  1.00000000e+00,  9.18936726e-27,
        1.00000000e+00,  9.58611875e-14, -1.00000000e+00,  0.00000000e+00,
        9.58611875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09986147, -0.09618311,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.48295446e-05,-4.30022786e-05,-4.90509277e+00,-7.20917098e-03,
 -1.22686289e-03, 1.04576743e-06]


--- 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,
  9.53250193e-02,-6.98705283e-02, 1.30426816e-01, 9.84027450e-01,
 -1.29092641e-04,-1.22632242e-04,-1.78016702e-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 ,  0.25444642,  0.86351692,  0.60199631,-13.11513099,
  -0.08659085, -0.23892225]

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([ 6.21118654, -1.49971362,  6.02741216, -1.49971362, 36.64642464,
        7.57275926,  6.02741216,  7.57275926,  8.09540649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005734864755097188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.39950913e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.39950913e-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([ 0.09354089, -0.07501547,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.44356363e-05,-1.92265688e-05,-4.90513436e+00,-7.19571556e-03,
 -1.23599380e-03,-6.16445938e-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,
  9.53433141e-02,-6.98566613e-02, 1.30429093e-01, 9.84009178e-01,
 -2.53429017e-04,-1.52351969e-05,-1.78117584e-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,
 -1.16440805e+00,-2.55765016e+00, 2.75472904e-01, 4.14013854e+01,
  1.65383197e+00, 2.88156917e+00]

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([  6.23324767,   2.43172195,   5.73934708,   2.43172195,
        33.77664019, -11.66994629,   5.73934708, -11.66994629,
        11.17772379,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005761316873718489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84809207e-07,  1.92702996e-13,  1.00000000e+00,  3.56132880e-20,
        1.00000000e+00, -1.92702996e-13, -1.00000000e+00,  6.01853108e-36,
       -1.84809207e-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([ 0.10434145, -0.04812759,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.71927928e-05,-1.56880317e-05,-4.90516868e+00,-7.18190433e-03,
 -1.24233247e-03,-2.88864913e-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,
  9.53557756e-02,-6.98523726e-02, 1.30431622e-01, 9.83992047e-01,
 -2.98983498e-04, 6.87802043e-05,-1.78212114e-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,
 -1.45832524e+00,-2.39455822e+00, 6.31916997e-02, 4.08435882e+01,
 -4.48845194e+00, 3.22338458e+00]

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([  6.27461406,  -2.60989813,  -5.70606812,  -2.60989813,
        41.24308322, -15.99422586,  -5.70606812, -15.99422586,
        13.590212  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005810892424668729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77647383e-14, -9.55294767e-14,  1.00000000e+00,  4.56294046e-27,
        1.00000000e+00,  9.55294767e-14, -1.00000000e+00,  0.00000000e+00,
        4.77647383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10677261, -0.04891635,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.65614952e-05,-2.38950042e-05,-4.90507664e+00,-7.17318514e-03,
 -1.24284970e-03,-2.76496213e-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,
  9.53625380e-02,-6.98574975e-02, 1.30433669e-01, 9.83975929e-01,
 -2.67677194e-04, 1.28717653e-04,-1.78301101e-01]

qacc:
[  0.84585871,  0.8648134 , -4.42355362,  9.79765172,  6.18126609,
  -0.2676377 ,  2.87142807,-10.04798952, -6.45375614, -1.92444607,
   9.14674863,-18.1924001 , -0.40068728,  0.42314494,  2.56331258,
  -8.61236313, -1.42476562, -2.353414  , -0.12052075, 39.96065354,
  -4.99835899,  2.816929  ]

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([  6.28149373,  -4.6153718 ,  -4.26092791,  -4.6153718 ,
        28.6312301 , -24.20889187,  -4.26092791, -24.20889187,
        32.50419434,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005819134855637592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53941653e-14, -9.53941653e-14,  1.00000000e+00,  9.10004677e-27,
        1.00000000e+00,  9.53941653e-14, -1.00000000e+00,  0.00000000e+00,
        9.53941653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10677653, -0.04891858,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.33927685e-05,-1.96318570e-05,-4.90502271e+00,-7.16920982e-03,
 -1.24332436e-03,-2.07278925e-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,
  9.53637135e-02,-6.98718971e-02, 1.30434599e-01, 9.83960708e-01,
 -1.61095873e-04, 1.64062209e-04,-1.78385177e-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, -1.39672349, -2.31865041, -0.27920797, 39.22667598,
  -5.3893126 ,  2.49692656]

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([  6.26005645,  -4.86437861,  -3.94032073,  -4.86437861,
        31.02582297, -30.57366978,  -3.94032073, -30.57366978,
        44.00366041,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005793449001352813
  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([ 0.10678022, -0.04891932,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.18744095e-05,-8.24535230e-06,-4.90501031e+00,-7.17017311e-03,
 -1.24377907e-03,-1.48490708e-06]


--- 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,
  9.53593951e-02,-6.98954552e-02, 1.30433866e-01, 9.83946274e-01,
  1.94630507e-05, 1.74432974e-04,-1.78464841e-01]

qacc:
[-9.29174984e-01, 1.91434770e+00,-6.82242176e+00, 8.89963561e+00,
 -8.09848131e-01,-2.04797689e+00, 8.54075739e+00,-1.62090173e+01,
 -5.39086959e+00, 1.85058920e+00,-8.18376830e+00, 1.38289978e+01,
 -1.44441060e-01, 3.20704945e-02, 4.55039942e+00,-1.59080984e+01,
 -1.37347694e+00,-2.28964829e+00,-4.15855733e-01, 3.86227058e+01,
 -5.68878081e+00, 2.24521588e+00]

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: -0.0005740820615512121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.66954987e-14, -9.66954987e-14,  1.00000000e+00,  9.35001947e-27,
        1.00000000e+00,  9.66954987e-14, -1.00000000e+00,  0.00000000e+00,
        9.66954987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10678373, -0.04891886,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.00648646e-05, 9.87479190e-06,-4.90503728e+00,-7.17598728e-03,
 -1.24405719e-03,-1.02805027e-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,
  9.53526373e-02,-6.99053391e-02, 1.30432730e-01, 9.83931008e-01,
  1.05976979e-04, 1.39052493e-04,-1.78548989e-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, -0.6098636 ,  3.41856199, -0.10073204,-42.18471812,
 -30.90021824, -2.28822418]

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([  6.18052337,  -1.42166583,  -6.01479305,  -1.42166583,
        64.59478882, -13.80688656,  -6.01479305, -13.80688656,
         9.44394054,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005698079863243194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.87104012e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.87104012e-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([ 0.09982878, -0.09619254,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.17794264e-05, 3.44748413e-05,-4.90510196e+00,-7.18657874e-03,
 -1.24404277e-03,-7.17213104e-07]


--- 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,
  9.53434615e-02,-6.99018353e-02, 1.30430380e-01, 9.83914805e-01,
  1.00495367e-04, 6.00311291e-05,-1.78638301e-01]

qacc:
[-4.91580224e-01, 2.50077810e+00,-8.67856706e+00, 1.06470318e+01,
 -3.39108913e+00,-1.26694877e+00, 2.20624284e+00, 4.83455244e+00,
  4.21655005e+00,-3.40150511e-02, 6.67575726e-01,-2.10888121e+00,
 -3.25178288e-01, 3.15553683e-01, 2.58088155e+00,-9.10376281e+00,
 -6.04487145e-01, 3.34691289e+00,-3.03279891e-01,-4.13622059e+01,
 -2.96828724e+01,-2.62797310e+00]

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([  6.22108469,   2.65950185,   5.62396164,   2.65950185,
        37.88775164, -14.97477486,   5.62396164, -14.97477486,
        13.30247037,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000574673427053099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93191989e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93191989e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09982409, -0.09619031,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.69017609e-05, 2.39282183e-05,-4.90502963e+00,-7.19112180e-03,
 -1.24579823e-03,-2.48240073e-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,
  9.53318871e-02,-6.98851873e-02, 1.30426112e-01, 9.83897561e-01,
  4.74822560e-06,-6.09262587e-05,-1.78733283e-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 , -0.59966906,  3.28604975, -0.47972349,-40.66088294,
 -28.69343177, -2.88277689]

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([  6.22626413,   2.98602928,   5.46351482,   2.98602928,
        44.14864917, -20.72609952,   5.46351482, -20.72609952,
        17.55390613,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005752944444469416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.64917214e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.64917214e-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([ 0.09982061, -0.09619002,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.42943466e-06, 2.79673666e-05,-4.90502503e+00,-7.19048132e-03,
 -1.24418478e-03,-1.05720573e-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,
  9.53158234e-02,-6.98659299e-02, 1.30424492e-01, 9.83880156e-01,
 -1.03274150e-04,-2.14943710e-04,-1.78828915e-01]

qacc:
[ -5.086089  , -0.83859288,  1.35024433,  3.32896701,  1.75739732,
   0.31228489,  0.46716767, -6.06933465,  7.66860521, -2.57655488,
   9.60996851,-14.01252373,  0.01773086, -0.06186785, -4.5944115 ,
  15.6382038 , -1.12229542,  0.65236479,  0.66208581, -3.0843391 ,
 -17.36086117, -0.33399398]

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([ 6.19915755,  1.25801991,  6.07016805,  1.25801991, 36.78609477,
       -6.33902979,  6.07016805, -6.33902979,  7.51289806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005720437003894997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13630264e-06, -9.09750501e-14,  1.00000000e+00, -1.03375189e-19,
        1.00000000e+00,  9.09750501e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13630264e-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([ 0.10323723, -0.07304819,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.92363818e-05, 4.58323984e-05,-4.90508345e+00,-7.18472104e-03,
 -1.23939582e-03, 3.32591220e-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,
  9.53044748e-02,-6.98543770e-02, 1.30425175e-01, 9.83862642e-01,
 -1.66967838e-04,-3.17653847e-04,-1.78925047e-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, 1.17876282,-1.92611857,
  0.57569746,17.21938283,29.20376408,-0.25770644]

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([ 6.25962004, -4.20932332,  4.63297315, -4.20932332, 26.74060973,
       18.60816039,  4.63297315, 18.60816039, 23.16620698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00057929260310427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.58257553e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.58257553e-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([ 0.08741682, -0.05435401,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.17209518e-05, 5.78145788e-05,-4.90512230e+00,-7.17916087e-03,
 -1.22917158e-03, 6.49511375e-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,
  9.52977706e-02,-6.98503519e-02, 1.30427351e-01, 9.83844930e-01,
 -1.86601765e-04,-3.71200040e-04,-1.79022291e-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,  1.16108252, -1.88197597,  0.37328741, 17.27585282,
  28.12704346, -0.56820859]

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([ 6.28698587,  1.12806635, -6.18495414,  1.12806635, 54.48454063,
        8.79069406, -6.18495414,  8.79069406,  7.89030999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005825714485681449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42929639e-13, -9.52864260e-14,  1.00000000e+00,  1.36192545e-26,
        1.00000000e+00,  9.52864260e-14, -1.00000000e+00,  0.00000000e+00,
        1.42929639e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08742119, -0.05435271,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.20469441e-05, 3.82265741e-05,-4.90505336e+00,-7.17760129e-03,
 -1.22071113e-03, 5.88173766e-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,
  9.52956492e-02,-6.98537069e-02, 1.30430320e-01, 9.83826943e-01,
 -1.62440871e-04,-3.77323649e-04,-1.79121124e-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,  1.14571874, -1.84502083,  0.19807492, 17.29848636,
  27.24845566, -0.80940565]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005820800861340847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76834310e-14,  9.53668620e-14,  1.00000000e+00,  4.54741918e-27,
        1.00000000e+00, -9.53668620e-14, -1.00000000e+00,  0.00000000e+00,
       -4.76834310e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08742422, -0.05435097,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.65338825e-06, 2.27885657e-05,-4.90501416e+00,-7.17814731e-03,
 -1.21568772e-03, 5.56567018e-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,
  9.52980582e-02,-6.98643195e-02, 1.30433477e-01, 9.83808612e-01,
 -9.47312195e-05,-3.37433389e-04,-1.79221910e-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, 1.1326024 ,-1.81439144,
  0.04711102,17.30079573,26.53518715,-0.99604366]

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: -0.000578566746353662
  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([ 0.08742618, -0.05434887,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.54047218e-06, 1.10329971e-05,-4.90500239e+00,-7.18082868e-03,
 -1.21396884e-03, 5.52201370e-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,
  9.53049537e-02,-6.98820894e-02, 1.30436304e-01, 9.83789869e-01,
  1.63097926e-05,-2.52661929e-04,-1.79324927e-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,  1.12162142, -1.7893135 , -0.0824432 , 17.29264003,
  25.96025703, -1.13967602]

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: -0.0005726715515672609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93867326e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93867326e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08742731, -0.05434648,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.35912289e-05, 2.62328512e-06,-4.90501630e+00,-7.18566451e-03,
 -1.21544908e-03, 5.73065021e-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,
  9.53162998e-02,-6.99069357e-02, 1.30438358e-01, 9.83770650e-01,
  1.70499604e-04,-1.23912052e-04,-1.79430386e-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, 1.1126416 ,-1.76910116,
 -0.19323891,17.28115878,25.50150783,-1.24935085]

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: -0.0005649390206289989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91302151e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.91302151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08742779, -0.05434387,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.45436960e-05,-2.67614020e-06,-4.90505459e+00,-7.19266680e-03,
 -1.22004515e-03, 6.17623119e-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,
  9.53253010e-02,-6.99181034e-02, 1.30439732e-01, 9.83751011e-01,
  2.34121406e-04,-4.23222839e-05,-1.79537994e-01]

qacc:
[  6.55321481, -3.04520393, 12.94358207,-24.10741351,  0.38645182,
   0.33789131, -3.27859047,  9.2555116 ,  0.94816008,  1.4106526 ,
  -7.07379726, 17.25342564,  0.75381408, -1.51849213, -3.36441762,
  11.41105229, -0.58622325,  3.41963047, -0.16995005,-40.31819507,
 -31.32290132, -1.08569541]

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([ 6.16115936,  1.62397583, -5.94328084,  1.62397583, 34.60261644,
        7.77150534, -5.94328084,  7.77150534,  8.28468963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005674837125810017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78198140e-14, -1.95639628e-13,  1.00000000e+00,  1.91374320e-26,
        1.00000000e+00,  1.95639628e-13, -1.00000000e+00,  0.00000000e+00,
        9.78198140e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0997781 , -0.09620077,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.84394290e-05,-5.02108924e-06,-4.90511629e+00,-7.20184286e-03,
 -1.22769174e-03, 6.84790874e-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,
  9.53319697e-02,-6.99158875e-02, 1.30439654e-01, 9.83730764e-01,
  2.08538299e-04,-5.42050174e-06,-1.79648937e-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, -0.58311402,  3.34589885, -0.36309511,-39.86611303,
 -29.98916429, -1.68763156]

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([ 6.18901826,  0.48705965,  6.16982333,  0.48705965, 37.75099732,
       -2.49157322,  6.16982333, -2.49157322,  6.38570863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005708273073314896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.72468390e-14, -9.72468390e-14,  1.00000000e+00,  9.45694769e-27,
        1.00000000e+00,  9.72468390e-14, -1.00000000e+00,  0.00000000e+00,
        9.72468390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09977171, -0.09620091,  0.06198236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.80516934e-05,-1.12790745e-05,-4.90502692e+00,-7.20336064e-03,
 -1.23732813e-03, 1.74709110e-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,
  9.53363191e-02,-6.99005364e-02, 1.30437453e-01, 9.83709738e-01,
  9.49261305e-05,-1.12130320e-05,-1.79764127e-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, -0.57984215,  3.28382535, -0.53072347,-39.46338465,
 -28.90746297, -2.15390489]

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([ 6.18452708,  0.83097118,  6.12844696,  0.83097118, 46.7023266 ,
       -5.49390797,  6.12844696, -5.49390797,  6.92945956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005702884242623635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.73387305e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.73387305e-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([ 0.09976688, -0.09620246,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.14342245e-06,-4.82774163e-06,-4.90500325e+00,-7.19998123e-03,
 -1.24340022e-03,-2.05351052e-07]


--- 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,
  9.53383619e-02,-6.98722571e-02, 1.30432549e-01, 9.83687775e-01,
 -1.05717404e-04,-5.80972671e-05,-1.79884260e-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, -0.57664574,  3.23202211, -0.67587428,-39.11337768,
 -28.03395407, -2.51359221]

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([  6.15407679,   1.2472738 ,   6.02635621,   1.2472738 ,
        57.00658814, -10.52493459,   6.02635621, -10.52493459,
         8.3324205 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005666333155205233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79666209e-14, -9.79666209e-14,  1.00000000e+00,  9.59745882e-27,
        1.00000000e+00,  9.79666209e-14, -1.00000000e+00,  0.00000000e+00,
        9.79666209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09976329, -0.09620515,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.46410048e-05, 1.41286035e-05,-4.90504123e+00,-7.19170122e-03,
 -1.24616311e-03, 7.73540590e-07]


--- 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,
  9.53342312e-02,-6.98539158e-02, 1.30429325e-01, 9.83667301e-01,
 -2.25511825e-04,-1.25662325e-04,-1.79996039e-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, -1.54336542, -2.48448859,  0.42030417, 41.62554154,
  -2.90039311,  4.23991313]

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([ 6.1840136 ,  0.96974592,  6.10750498,  0.96974592, 34.55494573,
       -4.50471932,  6.10750498, -4.50471932,  6.89927019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005702268097179386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86746241e-14, -1.94698496e-13,  1.00000000e+00,  9.47687613e-27,
        1.00000000e+00,  1.94698496e-13, -1.00000000e+00,  0.00000000e+00,
        4.86746241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10685415, -0.04895102,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.95231505e-05, 4.53174460e-05,-4.90513773e+00,-7.17852653e-03,
 -1.24580944e-03, 4.51784042e-06]


--- 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,
  9.53266662e-02,-6.98462570e-02, 1.30427118e-01, 9.83647579e-01,
 -2.64119739e-04,-1.94326196e-04,-1.80103670e-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, -0.85857578, -2.67062197,  0.25404042, 40.02949262,
   6.76577152,  2.10232338]

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([  6.25050013,  -4.8614052 ,  -3.92880279,  -4.8614052 ,
        18.47398007, -15.12503735,  -3.92880279, -15.12503735,
        24.96585417,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005781996534155454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92013782e-13, -9.60068912e-14,  1.00000000e+00,  1.84346463e-26,
        1.00000000e+00,  9.60068912e-14, -1.00000000e+00,  0.00000000e+00,
        1.92013782e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212379, -0.04740329,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.42404548e-05, 3.69131539e-05,-4.90506520e+00,-7.17209059e-03,
 -1.23523361e-03, 4.09536042e-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,
  9.53157642e-02,-6.98490596e-02, 1.30425101e-01, 9.83628445e-01,
 -2.23243727e-04,-2.65652265e-04,-1.80208106e-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,-0.83424679,-2.61533489,
  0.04753281,39.33220971, 5.84797594, 1.61589622]

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([  6.2809975 ,  -2.57185398,  -5.73031384,  -2.57185398,
        39.22634844, -14.78638591,  -5.73031384, -14.78638591,
        12.91735747,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005818540345965684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77019561e-14, -1.90807824e-13,  1.00000000e+00,  9.10190646e-27,
        1.00000000e+00,  1.90807824e-13, -1.00000000e+00,  0.00000000e+00,
        4.77019561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212906, -0.0474052 ,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.72935150e-05, 3.09484027e-05,-4.90502510e+00,-7.17095417e-03,
 -1.22638462e-03, 3.33045536e-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,
  9.53095031e-02,-6.98594014e-02, 1.30424464e-01, 9.83609071e-01,
 -1.38975525e-04,-2.89324902e-04,-1.80313869e-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, 1.16020195,-1.8848163 ,
  0.34492873,17.04692566,27.34656433,-0.67426158]

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([  6.29145126,  -5.10383363,  -3.67875539,  -5.10383363,
        17.1601004 , -15.07895227,  -3.67875539, -15.07895227,
        27.21169616,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005831063799999064
  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([ 0.08746466, -0.05433325,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.10770573e-06, 3.48986742e-05,-4.90502681e+00,-7.17457836e-03,
 -1.21863980e-03, 3.08598003e-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,
  9.53078184e-02,-6.98771386e-02, 1.30424515e-01, 9.83589372e-01,
 -1.13981850e-05,-2.66767039e-04,-1.80421384e-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,  1.14411545, -1.84886321,  0.1720676 , 17.13135479,
  26.64106356, -0.89394449]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005818918832339315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.53977067e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.53977067e-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([ 0.08746685, -0.05433087,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.24667050e-05, 2.63520844e-05,-4.90502588e+00,-7.18117312e-03,
 -1.21639652e-03, 4.07563697e-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,
  9.53106556e-02,-6.99021533e-02, 1.30424659e-01, 9.83569266e-01,
  1.59395880e-04,-1.99131599e-04,-1.80530976e-01]

qacc:
[-3.15775822e+00,-1.80331040e+00, 7.62407844e+00,-1.24685793e+01,
 -4.50324148e+00, 3.03112496e+00,-1.09915151e+01, 1.38515291e+01,
 -2.76317640e+00,-1.55791393e+00, 3.48471445e+00, 1.07828880e+00,
 -1.01387236e+00, 1.60414893e+00, 8.32157947e-01,-2.45367036e+00,
  1.13047823e+00,-1.81937022e+00, 2.31723263e-02, 1.71869973e+01,
  2.60674814e+01,-1.06406682e+00]

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: -0.0005777940193327086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60742918e-14, -1.92148584e-13,  1.00000000e+00,  1.84605391e-26,
        1.00000000e+00,  1.92148584e-13, -1.00000000e+00,  0.00000000e+00,
        9.60742918e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08746816, -0.05432826,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.26582186e-05, 2.12583528e-05,-4.90505075e+00,-7.18989397e-03,
 -1.21735325e-03, 5.28384293e-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,
  9.53111476e-02,-6.99133672e-02, 1.30424519e-01, 9.83548711e-01,
  2.37999766e-04,-1.79231948e-04,-1.80642862e-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, -0.58630137,  3.450221  , -0.07102813,-41.02901254,
 -31.79754694, -1.15496449]

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([ 6.25928331,  1.71570928, -6.01954892,  1.71570928, 33.20777533,
        7.68093731, -6.01954892,  7.68093731,  8.44852632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005792522510110337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58324307e-14, -1.91664861e-13,  1.00000000e+00,  1.83677096e-26,
        1.00000000e+00,  1.91664861e-13, -1.00000000e+00,  0.00000000e+00,
        9.58324307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09972268, -0.09620413,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.57468604e-05, 1.93815538e-05,-4.90510017e+00,-7.20076289e-03,
 -1.22142874e-03, 6.70565350e-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,
  9.53093067e-02,-6.99110935e-02, 1.30423256e-01, 9.83527523e-01,
  2.26071409e-04,-2.04504556e-04,-1.80758178e-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, -0.58323026,  3.37187166, -0.28063495,-40.4416441 ,
 -30.39202547, -1.73110569]

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([ 6.2967209 ,  0.88995994,  6.23351148,  0.88995994, 35.81981861,
       -4.2150198 ,  6.23351148, -4.2150198 ,  6.8985003 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005837376290957208
  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([ 0.09971617, -0.09620335,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.73512415e-05, 1.22541349e-05,-4.90501888e+00,-7.20378197e-03,
 -1.22767581e-03, 3.22567130e-06]


--- 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,
  9.53051454e-02,-6.98955972e-02, 1.30420142e-01, 9.83505533e-01,
  1.25032799e-04,-2.72883205e-04,-1.80877796e-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, -0.5800861 ,  3.30567893, -0.46270363,-39.92565813,
 -29.25226066, -2.17401491]

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([ 6.29837096,  1.22094893,  6.17889638,  1.22094893, 44.11788524,
       -7.47312992,  6.17889638, -7.47312992,  7.77506023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005839352833159617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.50638758e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.50638758e-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([ 0.09971125, -0.09620425,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.77123889e-06, 1.85348961e-05,-4.90500466e+00,-7.20181926e-03,
 -1.23029274e-03, 2.98478505e-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,
  9.52986757e-02,-6.98670999e-02, 1.30414546e-01, 9.83482582e-01,
 -6.39128745e-05,-3.82708606e-04,-1.81002376e-01]

qacc:
[  0.90159075, -0.15348521,  0.56794002, -1.25006133,  2.07750084,
  -1.2495898 ,  8.62110913,-23.01071944, -7.00715052,  0.58947149,
   0.77730772, -8.83710979,  0.48488163, -0.72276935, -7.70790916,
  26.19136236, -0.57710121,  3.25023922, -0.62043829,-39.48076088,
 -28.33221432, -2.51233662]

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([  6.27121356,   1.61817601,   6.05884691,   1.61817601,
        53.57067774, -12.63257834,   6.05884691, -12.63257834,
         9.64507917,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005806818098244987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.55965045e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.55965045e-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([ 0.0997076 , -0.09620649,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.11490126e-05, 3.78257937e-05,-4.90505301e+00,-7.19488960e-03,
 -1.22954223e-03, 5.74155497e-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,
  9.52969314e-02,-6.98465324e-02, 1.30412355e-01, 9.83459696e-01,
 -2.07345065e-04,-4.37104644e-04,-1.81126453e-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, 1.18133674,-1.98245016,
  0.85097013,17.36453472,31.37592719, 0.24630857]

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([ 6.36307993, -1.54294324,  6.17317685, -1.54294324, 36.34251159,
        7.49315344,  6.17317685,  7.49315344,  8.23594227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000591685075398557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69093725e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.69093725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08749346, -0.05432194,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.38832367e-05, 6.97018659e-05,-4.90516049e+00,-7.18301409e-03,
 -1.22562209e-03, 1.13123194e-05]


--- 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,
  9.52998422e-02,-6.98336827e-02, 1.30412594e-01, 9.83436751e-01,
 -3.05721509e-04,-4.39028157e-04,-1.81250850e-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,  1.16378442, -1.92946179,  0.60773238, 17.40309838,
  29.88272075, -0.16718463]

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([ 6.42447122,  0.67891611, -6.38849774,  0.67891611, 39.01179119,
        3.46310781, -6.38849774,  3.46310781,  6.79250135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005990374410129173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63336241e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.63336241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08750033, -0.05432166,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  5.91851203e-05, 3.84723298e-05,-4.90507914e+00,-7.17663507e-03,
 -1.21866132e-03, 8.87758178e-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,
  9.53073463e-02,-6.98283716e-02, 1.30414419e-01, 9.83413642e-01,
 -3.59479177e-04,-3.90873214e-04,-1.81376203e-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,  1.14831807, -1.88465074,  0.3962985 , 17.40125531,
  28.66820316, -0.48713834]

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([ 6.44574314,  0.47166602, -6.42846294,  0.47166602, 49.04468174,
        3.12554833, -6.42846294,  3.12554833,  6.67506933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006015856722967894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61373615e-14, -9.22747229e-14,  1.00000000e+00, -4.25731225e-27,
        1.00000000e+00,  9.22747229e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61373615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08750531, -0.05432067,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.20434546e-05, 1.24015059e-05,-4.90503069e+00,-7.17232122e-03,
 -1.21541769e-03, 6.84344585e-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,
  9.53193904e-02,-6.98304489e-02, 1.30417097e-01, 9.83390277e-01,
 -3.69019986e-04,-2.94571469e-04,-1.81503001e-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,
  1.13499371e+00,-1.84708632e+00, 2.13507414e-01, 1.73750614e+01,
  2.76842640e+01,-7.33510339e-01]

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([ 6.43452965,  0.2045796 , -6.43127662,  0.2045796 , 61.61656684,
        1.75534656, -6.43127662,  1.75534656,  6.49036741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006002423084926767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24812371e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.24812371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08750879, -0.05431911,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.23141358e-05,-9.24605382e-06,-4.90501185e+00,-7.17011384e-03,
 -1.21570250e-03, 5.15870956e-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,
  9.53281750e-02,-6.98426412e-02, 1.30419077e-01, 9.83367456e-01,
 -2.98338024e-04,-2.01601845e-04,-1.81626860e-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,-0.81485835,-2.52874479,
 -0.17478774,39.74807512, 5.64148635, 1.48213432]

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([ 6.40114391,  6.22591377,  1.48749491,  6.22591377,  7.66808103,
       -5.30276855,  1.48749491, -5.30276855, 28.5958953 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005962434813813339
  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([ 0.10219509, -0.04743011,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.04477253e-07,-2.70045944e-05,-4.90502019e+00,-7.17003874e-03,
 -1.21936595e-03, 3.78212084e-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,
  9.53337726e-02,-6.98648170e-02, 1.30419760e-01, 9.83345042e-01,
 -1.49159148e-04,-1.12992974e-04,-1.81748433e-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,
 -7.96754676e-01,-2.49588055e+00,-3.23978588e-01, 3.89919609e+01,
  4.98416339e+00, 1.15206006e+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([  6.36109704,  -4.78324609,  -4.19334143,  -4.78324609,
        27.76883728, -24.41930659,  -4.19334143, -24.41930659,
        34.21562664,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005914476179266215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38564119e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.38564119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10219926, -0.04743065,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.59237695e-05,-1.50729420e-05,-4.90503404e+00,-7.17354928e-03,
 -1.22109458e-03, 4.44675158e-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,
  9.53362432e-02,-6.98968673e-02, 1.30418635e-01, 9.83322908e-01,
  7.71171984e-05,-2.95409712e-05,-1.81868225e-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, -0.78176588, -2.46863141, -0.45227416, 38.37545697,
   4.47056518,  0.89665633]

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([  6.30084568,  -4.96589856,  -3.87820936,  -4.96589856,
        29.96689608, -30.30347117,  -3.87820936, -30.30347117,
        45.10327995,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005842317159265725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50156414e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.50156414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10220292, -0.0474299 ,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.75748579e-05, 5.73889879e-06,-4.90508621e+00,-7.18182180e-03,
 -1.22373193e-03, 5.47928555e-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,
  9.53364108e-02,-6.99148692e-02, 1.30417982e-01, 9.83300464e-01,
  2.08605385e-04, 3.67422257e-06,-1.81989432e-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,
 -5.75729006e-01, 3.51209204e+00, 1.18373131e-01,-4.20354550e+01,
 -3.33190396e+01,-7.20547951e-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([ 6.30075225, -0.69460973, -6.2623475 , -0.69460973, 43.44022752,
       -4.11945213, -6.2623475 , -4.11945213,  6.7576754 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005842205242354709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.50174616e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.50174616e-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([ 0.09965151, -0.0962154 ,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -9.55982627e-05, 3.50064272e-05,-4.90517479e+00,-7.19479041e-03,
 -1.22713734e-03, 6.82937945e-06]


--- 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,
  9.53342856e-02,-6.99191721e-02, 1.30416858e-01, 9.83277503e-01,
  2.47397370e-04,-1.02601389e-05,-1.82113400e-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, -0.57320493,  3.42477409, -0.11796219,-41.28368991,
 -31.61624157, -1.40020298]

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([ 6.36686941,  1.24240144,  6.24447474,  1.24240144, 28.95536561,
       -4.49420992,  6.24447474, -4.49420992,  7.26103796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005921388763762692
  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([ 0.0996435 , -0.09621254,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.10258180e-05, 2.09228739e-05,-4.90505454e+00,-7.20063993e-03,
 -1.23529340e-03, 1.68606502e-06]


--- 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,
  9.53298790e-02,-6.99100730e-02, 1.30414439e-01, 9.83253841e-01,
  1.95286078e-04,-6.88538099e-05,-1.82241163e-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, -0.57035347,  3.35047506, -0.32377491,-40.62497713,
 -30.23407268, -1.92323511]

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([ 6.39054333,  1.5125581 ,  6.20896223,  1.5125581 , 35.55547406,
       -7.10483499,  6.20896223, -7.10483499,  8.12134395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005949739449491315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33001381e-14, -9.33001381e-14,  1.00000000e+00,  8.70491577e-27,
        1.00000000e+00,  9.33001381e-14, -1.00000000e+00,  0.00000000e+00,
        9.33001381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09963741, -0.09621184,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.11915899e-05, 2.08560947e-05,-4.90500659e+00,-7.20145226e-03,
 -1.23955071e-03, 5.01982812e-08]


--- 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,
  9.53232025e-02,-6.98878228e-02, 1.30410011e-01, 9.83229308e-01,
  5.37913274e-05,-1.70104005e-04,-1.82373505e-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, -0.56748643,  3.28779793, -0.50235934,-40.0565001 ,
 -29.11624567, -2.32349206]

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([  6.37980424,   1.8371869 ,   6.10955371,   1.8371869 ,
        43.28852133, -11.09871764,   6.10955371, -11.09871764,
         9.71726875,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005936878700273096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.35022493e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.35022493e-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([ 0.09963283, -0.09621287,  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:
[-1.93800755e-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,
  2.58646817e-05, 3.43170659e-05,-4.90502502e+00,-7.19724509e-03,
 -1.24023677e-03, 1.61046745e-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,
  9.53175633e-02,-6.98621287e-02, 1.30408954e-01, 9.83204623e-01,
 -1.16354707e-04,-2.65761116e-04,-1.82506397e-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,  0.25934028,  0.86096231,  0.8428145 ,-14.59544911,
   0.13699657, -0.28169919]

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([ 6.33858449, -1.24083109,  6.21594655, -1.24083109, 35.36484567,
        5.79424021,  6.21594655,  5.79424021,  7.4952343 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005887516360278254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42861944e-14, -8.23261887e-07,  1.00000000e+00,  7.76222303e-20,
        1.00000000e+00,  8.23261887e-07, -1.00000000e+00,  0.00000000e+00,
        9.42861944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09350623, -0.07499325,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.15516425e-05, 6.07948851e-05,-4.90510534e+00,-7.18804494e-03,
 -1.23759851e-03, 6.12977404e-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,
  9.53165372e-02,-6.98442145e-02, 1.30410373e-01, 9.83180003e-01,
 -2.42184488e-04,-3.07555598e-04,-1.82638794e-01]

qacc:
[ -1.44039768,  2.05557654, -5.64141473,  2.50054884,  0.28504658,
   1.08042242, -4.76689163,  9.7317846 ,  2.93706704, -1.903805  ,
  10.19439719,-24.13285695,  0.18105659, -0.24035356, -2.52609608,
   8.3245511 ,  1.15328152, -1.94498882,  0.61915639, 16.87090534,
  30.52297324,  0.24627604]

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([ 6.40127492, -1.51108437,  6.22036531, -1.51108437, 33.68370288,
        6.62759312,  6.22036531,  6.62759312,  8.01128524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000596259171137134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30990313e-14, -9.30990313e-14,  1.00000000e+00,  8.66742963e-27,
        1.00000000e+00,  9.30990313e-14, -1.00000000e+00,  0.00000000e+00,
        9.30990313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08754349, -0.05429823,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.31844719e-05, 6.31952462e-05,-4.90512944e+00,-7.17878582e-03,
 -1.23175641e-03, 8.41582600e-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,
  9.53200675e-02,-6.98338911e-02, 1.30413420e-01, 9.83155319e-01,
 -3.23963469e-04,-2.98185346e-04,-1.82771508e-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 ,  1.13907365, -1.89766994,  0.40694674, 16.98254372,
  29.17479254, -0.16166113]

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([ 6.42619889,  0.88433909, -6.36505904,  0.88433909, 41.63420935,
        4.8916781 , -6.36505904,  4.8916781 ,  7.10583157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005992443860634994
  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([ 0.08754951, -0.05429684,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.65085904e-05, 3.30596276e-05,-4.90505954e+00,-7.17340571e-03,
 -1.22566776e-03, 6.26666646e-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,
  9.53281043e-02,-6.98309996e-02, 1.30417361e-01, 9.83130466e-01,
 -3.61961491e-04,-2.39825574e-04,-1.82905164e-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,  1.12664341, -1.85799635,  0.22346759, 17.04462965,
  28.08323713, -0.4778335 ]

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([ 6.41818898,  0.65374069, -6.38480797,  0.65374069, 52.46801579,
        4.71504326, -6.38480797,  4.71504326,  6.90096241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005982849609441482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85567597e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85567597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08755382, -0.05429497,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.74837579e-05, 7.80189759e-06,-4.90502044e+00,-7.17004340e-03,
 -1.22319407e-03, 4.45949562e-06]


--- 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,
  9.53328382e-02,-6.98382205e-02, 1.30420589e-01, 9.83106240e-01,
 -3.20052475e-04,-1.84115262e-04,-1.83035473e-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 , -0.82572484, -2.52808938, -0.17832422, 39.5223366 ,
   6.00479217,  1.69292291]

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([ 6.39849903,  6.27459703,  1.25308502,  6.27459703,  7.24544602,
       -4.24093414,  1.25308502, -4.24093414, 27.63421118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005959267228232701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.31509682e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.31509682e-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([ 0.10226059, -0.04744789,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.59432112e-05,-1.32394387e-05,-4.90500938e+00,-7.16874639e-03,
 -1.22416581e-03, 2.95762338e-06]


--- 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,
  9.53343435e-02,-6.98554189e-02, 1.30422509e-01, 9.83082494e-01,
 -1.99911311e-04,-1.32260334e-04,-1.83163185e-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, -0.80714017, -2.49437963, -0.32678201, 38.80840849,
   5.26413183,  1.31241278]

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([  6.35765363,  -4.37840833,  -4.60969632,  -4.37840833,
        30.65332013, -23.07665003,  -4.60969632, -23.07665003,
        28.27645041,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005910352597288671
  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([ 0.10226532, -0.04744832,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02572991e-05,-5.24561149e-06,-4.90500972e+00,-7.17099273e-03,
 -1.22306909e-03, 3.27797261e-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,
  9.53326814e-02,-6.98824829e-02, 1.30422613e-01, 9.83059092e-01,
 -2.89871484e-06,-8.51996610e-05,-1.83288883e-01]

qacc:
[-3.85133454e+00, 8.34674467e-01,-4.89202113e+00, 1.34771456e+01,
  2.00725150e+00, 1.10211698e+00,-8.12489186e+00, 2.43767724e+01,
 -7.34170975e+00, 1.10922981e-01,-6.85979705e-01, 2.41992553e+00,
  3.77433667e-02,-3.97698606e-01,-1.37378856e+00, 5.16831438e+00,
 -7.91876806e-01,-2.46641144e+00,-4.54295725e-01, 3.82247130e+01,
  4.68325566e+00, 1.01596558e+00]

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([  6.29685384,  -4.5856288 ,  -4.3153652 ,  -4.5856288 ,
        33.99928746, -29.43738747,  -4.3153652 , -29.43738747,
        37.57785222,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005837535533817634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75467352e-14, -2.85280411e-13,  1.00000000e+00,  1.35641522e-26,
        1.00000000e+00,  2.85280411e-13, -1.00000000e+00,  0.00000000e+00,
        4.75467352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10226943, -0.04744749,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.21374516e-05, 1.17803765e-05,-4.90504860e+00,-7.17796530e-03,
 -1.22294509e-03, 4.00326344e-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,
  9.53268484e-02,-6.99071597e-02, 1.30425203e-01, 9.83035747e-01,
  1.85487796e-04,-7.67603054e-05,-1.83413960e-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 , -1.04269788,  0.59683122,  0.6217651 , -0.70052017,
 -19.77405013,  0.31117291]

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([ 6.2247633 , -0.48131145, -6.20612741, -0.48131145, 42.77564312,
       -2.83467547, -6.20612741, -2.83467547,  6.44460438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005751144997414318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.82505283e-07,  4.83973103e-07,  1.00000000e+00,  3.30314199e-13,
        1.00000000e+00, -4.83973103e-07, -1.00000000e+00, -5.04870979e-29,
       -6.82505283e-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([ 0.10305215, -0.07254816,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.02783681e-05, 3.73648931e-05,-4.90512408e+00,-7.18960624e-03,
 -1.22363468e-03, 5.07258173e-06]


--- 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,
  9.53188139e-02,-6.99182425e-02, 1.30427025e-01, 9.83012062e-01,
  2.81615558e-04,-1.16651529e-04,-1.83540710e-01]

qacc:
[-3.39857706e+00, 1.13347251e+00,-3.10082124e+00, 3.50883107e-01,
  2.52072621e+00,-1.95710681e+00, 8.33139563e+00,-1.63165180e+01,
  8.40509624e+00, 1.18861691e+00,-5.75666209e+00, 1.30389131e+01,
 -3.65431407e-02,-1.61551802e-01, 7.11396292e+00,-2.43646330e+01,
 -5.50398681e-01, 3.39848107e+00,-1.92192574e-01,-4.09146058e+01,
 -3.22162834e+01,-8.45673436e-01]

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([ 6.28465466, -1.3056172 , -6.14753999, -1.3056172 , 28.21555034,
       -4.65769311, -6.14753999, -4.65769311,  7.27385753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005822921713863199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53321270e-14, -1.90664254e-13,  1.00000000e+00,  1.81764289e-26,
        1.00000000e+00,  1.90664254e-13, -1.00000000e+00,  0.00000000e+00,
        9.53321270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09956852, -0.09622658,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.85220096e-05, 4.84676612e-05,-4.90511058e+00,-7.19983483e-03,
 -1.22645367e-03, 3.04516748e-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,
  9.53085749e-02,-6.99160104e-02, 1.30427309e-01, 9.82987826e-01,
  2.87221878e-04,-2.02112808e-04,-1.83670383e-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, -0.55110936,  3.32870838, -0.38433691,-40.30994765,
 -30.70558565, -1.47605985]

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([ 6.30406318,  1.51468337,  6.11939106,  1.51468337, 31.62634166,
       -6.26781878,  6.11939106, -6.26781878,  7.85548567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005846171126508981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49530043e-14, -9.49530043e-14,  1.00000000e+00,  9.01607303e-27,
        1.00000000e+00,  9.49530043e-14, -1.00000000e+00,  0.00000000e+00,
        9.49530043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09956134, -0.09622583,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.87423472e-05, 4.14273591e-05,-4.90503769e+00,-7.20433831e-03,
 -1.22985764e-03, 1.10860985e-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,
  9.52961310e-02,-6.99006991e-02, 1.30425390e-01, 9.82962848e-01,
  2.03779322e-04,-3.30933199e-04,-1.83803938e-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, -0.55124072,  3.26981397, -0.55107916,-39.78537369,
 -29.48919268, -1.96000938]

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([ 6.29111096,  1.79415152,  6.02985053,  1.79415152, 38.40823868,
       -9.55628888,  6.02985053, -9.55628888,  9.13453637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005830656143252094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52056679e-14, -1.90411336e-13,  1.00000000e+00,  1.81282384e-26,
        1.00000000e+00,  1.90411336e-13, -1.00000000e+00,  0.00000000e+00,
        9.52056679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09955589, -0.09622678,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.22648387e-06, 4.78658293e-05,-4.90503139e+00,-7.20389159e-03,
 -1.22951903e-03, 2.45180861e-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,
  9.52814826e-02,-6.98725056e-02, 1.30420688e-01, 9.82936953e-01,
  3.25211984e-05,-5.01348992e-04,-1.83942097e-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, -0.55110698,  3.22056691, -0.69544954,-39.33769028,
 -28.51441321, -2.32882925]

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([  6.25231401,   2.12298521,   5.88084724,   2.12298521,
        46.02158954, -14.35670411,   5.88084724, -14.35670411,
        11.43508262,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005784170440825687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91941617e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91941617e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09955181, -0.09622907,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.11011208e-05, 6.73445179e-05,-4.90508708e+00,-7.19850617e-03,
 -1.22572738e-03, 6.81642310e-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,
  9.52714676e-02,-6.98522923e-02, 1.30419295e-01, 9.82911226e-01,
 -9.40975384e-05,-6.15941807e-04,-1.84079152e-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,  1.15835416, -1.99505852,  0.82730633, 16.80502788,
  31.54082679,  0.54570334]

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([ 6.30985082, -1.45617857,  6.13952452, -1.45617857, 34.3380802 ,
        6.64776348,  6.13952452,  6.64776348,  7.88657401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005853103404690335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74202721e-14, -9.48405442e-14,  1.00000000e+00,  4.49736441e-27,
        1.00000000e+00,  9.48405442e-14, -1.00000000e+00,  0.00000000e+00,
        4.74202721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08758701, -0.05426941,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.41149347e-05, 9.94086412e-05,-4.90520131e+00,-7.18820090e-03,
 -1.21869968e-03, 1.40083336e-05]


--- 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,
  9.52660200e-02,-6.98398433e-02, 1.30420259e-01, 9.82885522e-01,
 -1.76306864e-04,-6.77822063e-04,-1.84216069e-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,  1.14183389, -1.94108478,  0.58908241, 16.97365692,
  29.99330656,  0.0590172 ]

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([ 6.3712538 ,  1.08781979, -6.27770046,  1.08781979, 35.78605063,
        5.09708904, -6.27770046,  5.09708904,  7.25449351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005926639202609441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68318969e-14,  9.36637938e-14,  1.00000000e+00, -4.38645314e-27,
        1.00000000e+00, -9.36637938e-14, -1.00000000e+00,  0.00000000e+00,
        4.68318969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08759448, -0.05426857,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.84035567e-05, 6.67248312e-05,-4.90510363e+00,-7.18372983e-03,
 -1.20809350e-03, 1.24183666e-05]


--- 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,
  9.52650806e-02,-6.98349765e-02, 1.30422751e-01, 9.82859720e-01,
 -2.14361981e-04,-6.89508015e-04,-1.84353597e-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, 1.12705318,-1.89555196,
  0.38199157,17.07575198,28.73460634,-0.31981657]

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([ 6.3932855 ,  0.89678767, -6.33007673,  0.89678767, 45.05098412,
        5.47667096, -6.33007673,  5.47667096,  7.16917041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000595302345557186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.66243344e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.66243344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08759996, -0.05426717,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.04971174e-05, 3.96435704e-05,-4.90503977e+00,-7.18123444e-03,
 -1.20121453e-03, 1.11717522e-05]


--- 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,
  9.52685977e-02,-6.98375396e-02, 1.30426054e-01, 9.82833717e-01,
 -2.08519483e-04,-6.53032722e-04,-1.84492316e-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,  1.11412821, -1.85746725,  0.20295223, 17.13281702,
  27.71427313, -0.6137888 ]

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([ 6.38341214,  0.64546209, -6.35069517,  0.64546209, 56.86755059,
        5.13102847, -6.35069517,  5.13102847,  6.90491164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005941199344697001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.34342513e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.34342513e-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([ 0.08760385, -0.05426529,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.01862994e-05, 1.73181069e-05,-4.90500625e+00,-7.18077948e-03,
 -1.19786834e-03, 1.02343766e-05]


--- 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,
  9.52765271e-02,-6.98474064e-02, 1.30429553e-01, 9.82807421e-01,
 -1.59021116e-04,-5.70030890e-04,-1.84632672e-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,
  1.10307888e+00,-1.82592335e+00, 4.88719254e-02, 1.71607708e+01,
  2.68910870e+01,-8.40933397e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005898847960941617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.7052536e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.7052536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08760648, -0.05426305,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.67647085e-06,-8.66921005e-07,-4.90500045e+00,-7.18240882e-03,
 -1.19790011e-03, 9.57726252e-06]


--- 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,
  9.52888320e-02,-6.98644736e-02, 1.30432720e-01, 9.82780747e-01,
 -6.60829578e-05,-4.41809272e-04,-1.84775006e-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,  1.09386485, -1.80010802, -0.08321003, 17.17135602,
  26.23142337, -1.01539339]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005832528971303069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.51750973e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.51750973e-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([ 0.08760813, -0.0542605 ,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.81999365e-05,-1.53558543e-05,-4.90502044e+00,-7.18615190e-03,
 -1.20118721e-03, 9.17704394e-06]


--- 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,
  9.53054825e-02,-6.98886580e-02, 1.30435102e-01, 9.82753618e-01,
  7.01115225e-05,-2.69403723e-04,-1.84919574e-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,  1.08640968, -1.77930421, -0.1960466 , 17.17318888,
  25.70787573, -1.148257  ]

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: -0.000574781314973738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65778632e-14, -9.65778632e-14,  1.00000000e+00,  9.32728367e-27,
        1.00000000e+00,  9.65778632e-14, -1.00000000e+00,  0.00000000e+00,
        9.65778632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08760901, -0.05425773,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.64700980e-05,-2.64638763e-05,-4.90506478e+00,-7.19202820e-03,
 -1.20763312e-03, 9.01584659e-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,
  9.53264555e-02,-6.99198940e-02, 1.30436315e-01, 9.82725954e-01,
  2.49415655e-04,-5.36254383e-05,-1.85066567e-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, 1.08061706,-1.76288486,
 -0.29214937,17.17254229,25.29810931,-1.24821327]

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: -0.0005649404172852063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91300937e-14, -9.82601873e-14,  1.00000000e+00,  4.82753221e-27,
        1.00000000e+00,  9.82601873e-14, -1.00000000e+00,  0.00000000e+00,
        4.91300937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08760929, -0.0542548 ,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -8.75614538e-05,-3.44063489e-05,-4.90513246e+00,-7.20005044e-03,
 -1.21716254e-03, 9.08088956e-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,
  9.53452988e-02,-6.99371099e-02, 1.30437596e-01, 9.82698341e-01,
  3.37835383e-04, 1.11512553e-04,-1.85212970e-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,
 -5.32417687e-01, 3.50500942e+00, 1.68976727e-02,-3.99713108e+01,
 -3.32925241e+01, 3.03389552e-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([ 6.22256848,  1.5904841 , -6.01587224,  1.5904841 , 30.05956054,
        6.30205483, -6.01587224,  6.30205483,  7.8887139 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005748513403397854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.65660986e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.65660986e-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([ 0.09947852, -0.09624746,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.21544817e-04,-3.93195705e-05,-4.90522277e+00,-7.21022689e-03,
 -1.22971746e-03, 9.36398364e-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,
  9.53620137e-02,-6.99406557e-02, 1.30438061e-01, 9.82670489e-01,
  3.36670951e-04, 2.29321314e-04,-1.85360580e-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, -0.53212179,  3.41754169, -0.20419191,-39.6340013 ,
 -31.55144289, -0.61195591]

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([ 6.27412287, -0.18365139,  6.27143444, -0.18365139, 27.49926604,
        0.6215527 ,  6.27143444,  0.6215527 ,  6.29232429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005810303904251884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91078306e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91078306e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09946917, -0.09624718,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.09749109e-05,-4.44953410e-05,-4.90509170e+00,-7.21146497e-03,
 -1.24634862e-03, 1.00393957e-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,
  9.53766054e-02,-6.99308266e-02, 1.30436940e-01, 9.82642149e-01,
  2.47072784e-04, 3.02469850e-04,-1.85510791e-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, -0.5307746 ,  3.34372296, -0.39618919,-39.31110824,
 -30.13958902, -1.32637719]

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([ 6.28744438,  0.06397472,  6.2871189 ,  0.06397472, 34.31240632,
       -0.28516865,  6.2871189 , -0.28516865,  6.29034612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005826263767568923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52774427e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.52774427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.099462  , -0.09624845,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.15839401e-06,-3.82624469e-05,-4.90503041e+00,-7.20799655e-03,
 -1.25901249e-03,-4.00330172e-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,
  9.53890819e-02,-6.99078698e-02, 1.30433570e-01, 9.82613102e-01,
  7.00386727e-05, 3.33105612e-04,-1.85664686e-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, -0.52881239,  3.28191476, -0.5624085 ,-39.01518905,
 -28.99792567, -1.88301122]

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([ 6.26984933,  0.37806481,  6.25844051,  0.37806481, 42.87578174,
       -2.21132006,  6.25844051, -2.21132006,  6.4034325 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005805183501670363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56234221e-14, -9.56234221e-14,  1.00000000e+00,  9.14383885e-27,
        1.00000000e+00,  9.56234221e-14, -1.00000000e+00,  0.00000000e+00,
        9.56234221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09945655, -0.09625097,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.51694659e-05,-2.03944179e-05,-4.90503384e+00,-7.19976173e-03,
 -1.26806926e-03,-5.92439059e-06]


--- 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,
  9.53994522e-02,-6.98719906e-02, 1.30427376e-01, 9.82583144e-01,
 -1.93583644e-04, 3.22951630e-04,-1.85823095e-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, -0.52654713,  3.2306156 , -0.7060515 ,-38.75396229,
 -28.07846123, -2.31562373]

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([ 6.22761758,  0.76558434,  6.18038035,  0.76558434, 53.21823413,
       -5.8208845 ,  6.18038035, -5.8208845 ,  6.94866997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005754567142253891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92929024e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92929024e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09945245, -0.09625449,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.46516469e-05, 9.12833884e-06,-4.90509809e+00,-7.18672673e-03,
 -1.27379219e-03,-4.96537113e-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,
  9.54033153e-02,-6.98462255e-02, 1.30423946e-01, 9.82555115e-01,
 -3.74316253e-04, 2.94835199e-04,-1.85971015e-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 , -1.62678164, -2.52855243,  0.69121409, 42.39042776,
  -1.12471533,  5.34390983]

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([ 6.30959456,  1.02535261,  6.22572369,  1.02535261, 31.50912137,
       -4.15026458,  6.22572369, -4.15026458,  6.99312708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005852796467911564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.48455179e-14, -1.89691036e-13,  1.00000000e+00,  1.79913445e-26,
        1.00000000e+00,  1.89691036e-13, -1.00000000e+00,  0.00000000e+00,
        9.48455179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10711109, -0.04909801,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.43479216e-04, 5.01979870e-05,-4.90522024e+00,-7.16887373e-03,
 -1.27638795e-03,-1.28324809e-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,
  9.54008914e-02,-6.98303099e-02, 1.30422185e-01, 9.82528741e-01,
 -4.74737830e-04, 2.46655025e-04,-1.86110149e-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,
 -1.57176911e+00,-2.46234801e+00, 4.17044655e-01, 4.13196597e+01,
 -2.39099298e+00, 4.47855348e+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([ 6.40333794, -2.91951585, -5.69904939, -2.91951585, 23.27060158,
       -8.64078202, -5.69904939, -8.64078202, 10.8298481 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005965062480930705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65302345e-14, -9.30604690e-14,  1.00000000e+00,  4.33012545e-27,
        1.00000000e+00,  9.30604690e-14, -1.00000000e+00,  0.00000000e+00,
        4.65302345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1071184 , -0.04910416,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.05455387e-05, 3.80799641e-05,-4.90510852e+00,-7.15839359e-03,
 -1.26536406e-03,-1.79789989e-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,
  9.53923645e-02,-6.98240160e-02, 1.30421137e-01, 9.82503790e-01,
 -4.97023208e-04, 1.76805698e-04,-1.86241843e-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,-1.52574519,-2.40543159,
  0.17848006,40.40137651,-3.37625445, 3.79198565]

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([  6.4499712 ,  -3.11394973,  -5.64849056,  -3.11394973,
        28.15171062, -11.96392644,  -5.64849056, -11.96392644,
        13.04555015,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006020922300346426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60985448e-14, -1.84394179e-13,  1.00000000e+00,  8.50030332e-27,
        1.00000000e+00,  1.84394179e-13, -1.00000000e+00,  0.00000000e+00,
        4.60985448e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10712479, -0.04910797,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  4.87146937e-05, 3.52515368e-05,-4.90504420e+00,-7.15290680e-03,
 -1.25513325e-03,-2.09941048e-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,
  9.53778876e-02,-6.98271499e-02, 1.30419978e-01, 9.82480065e-01,
 -4.42994071e-04, 8.40594872e-05,-1.86367162e-01]

qacc:
[-2.44149240e+00,-2.02514112e-01, 1.64916786e+00,-5.14390335e+00,
 -1.55586920e+00, 3.76429089e-01,-1.78960299e+00, 2.93178975e+00,
  4.28764187e+00, 5.12287395e-01,-4.14400122e+00, 1.36236349e+01,
 -8.61051801e-01, 1.27080598e+00, 3.83553251e-01,-1.13352289e+00,
 -1.48751875e+00,-2.35695822e+00,-2.80517358e-02, 3.96215698e+01,
 -4.14335191e+00, 3.24656800e+00]

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([  6.45814834,  -3.3422995 ,  -5.52600344,  -3.3422995 ,
        33.95588808, -16.63149198,  -5.52600344, -16.63149198,
        16.51739422,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006030719921757965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60236522e-14, -9.20473044e-14,  1.00000000e+00,  4.23635312e-27,
        1.00000000e+00,  9.20473044e-14, -1.00000000e+00,  0.00000000e+00,
        4.60236522e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10713047, -0.0491099 ,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.63577807e-05, 4.07245685e-05,-4.90502388e+00,-7.15233584e-03,
 -1.24532991e-03,-2.31396469e-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,
  9.53575865e-02,-6.98395481e-02, 1.30417994e-01, 9.82457387e-01,
 -3.14164261e-04,-3.25249178e-05,-1.86486950e-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,-1.45602603,-2.31606572,
 -0.2061704 ,38.96641354,-4.7413502 , 2.81256298]

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([  6.43531023,  -3.61358852,  -5.32495969,  -3.61358852,
        40.40025025, -23.04906037,  -5.32495969, -23.04906037,
        22.07670939,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006003358167411404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62334161e-14,  9.24668322e-14,  1.00000000e+00, -4.27505753e-27,
        1.00000000e+00, -9.24668322e-14, -1.00000000e+00,  0.00000000e+00,
        4.62334161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10713562, -0.04911032,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -7.72993473e-06, 5.37981824e-05,-4.90504489e+00,-7.15660806e-03,
 -1.23567981e-03,-2.52674927e-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,
  9.53315641e-02,-6.98610739e-02, 1.30414572e-01, 9.82435595e-01,
 -1.11779583e-04,-1.73672866e-04,-1.86601875e-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, -1.430333  , -2.28192398, -0.35935239, 38.42287047,
  -5.20855574,  2.46647447]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005946453785638794
  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([ 0.10714034, -0.04910955,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.44315998e-05, 7.39863538e-05,-4.90510515e+00,-7.16565815e-03,
 -1.22597689e-03,-2.79487912e-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,
  9.53101012e-02,-6.98902260e-02, 1.30412356e-01, 9.82413456e-01,
  1.32852797e-04,-2.69525742e-04,-1.86718268e-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,  1.13988574, -1.9065469 ,  0.30144746, 16.52660436,
  26.19154833, -0.75423716]

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([  6.33691932,  -5.95388116,  -2.16975705,  -5.95388116,
        11.23919477, -13.45199707,  -2.16975705, -13.45199707,
        43.24961977,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005885522193462833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.4318141e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.4318141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08767435, -0.05422813,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.43844054e-05, 1.00968835e-04,-4.90520311e+00,-7.17942907e-03,
 -1.21606594e-03,-3.15648709e-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,
  9.52864394e-02,-6.99054109e-02, 1.30410430e-01, 9.82390816e-01,
  2.81864634e-04,-4.14336691e-04,-1.86836916e-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, -0.54973254,  3.49178888,  0.07249862,-42.39904267,
 -32.97580378, -1.13890357]

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([ 6.34083272,  1.8967868 , -6.05048423,  1.8967868 , 31.1788761 ,
        7.78656235, -6.05048423,  7.78656235,  8.78186853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000589020878426369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88486192e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88486192e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09939879, -0.09624659,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.49049582e-05, 1.03006049e-04,-4.90522477e+00,-7.19657861e-03,
 -1.21109618e-03, 6.75660534e-07]


--- 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,
  9.52605789e-02,-6.99069611e-02, 1.30407868e-01, 9.82367487e-01,
  3.37539867e-04,-6.05280221e-04,-1.86958927e-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, -0.54968822,  3.40868941, -0.15894278,-41.53747633,
 -31.38008997, -1.68995472]

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([ 6.39822279,  1.96904905,  6.08770077,  1.96904905, 29.42820577,
       -7.44898078,  6.08770077, -7.44898078,  8.80757389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000595893639246281
  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([ 0.09939163, -0.09624347,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.37405977e-05, 8.86291645e-05,-4.90514829e+00,-7.20556829e-03,
 -1.20846127e-03, 1.01819583e-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,
  9.52325209e-02,-6.98951595e-02, 1.30403865e-01, 9.82343299e-01,
  3.01819794e-04,-8.40087563e-04,-1.87085133e-01]

qacc:
[ 2.82543657e+00, 2.72034132e-01,-2.18125457e+00, 5.47614970e+00,
  9.25992250e-01, 1.12529113e+00,-2.80591329e+00,-5.99933332e-01,
  2.31114092e+00, 1.74775004e-01, 8.90911248e-01,-4.69683736e+00,
 -2.70110178e-02, 2.82052615e-02,-7.32620759e+00, 2.48339013e+01,
 -5.49349739e-01, 3.33791397e+00,-3.60529182e-01,-4.07926479e+01,
 -3.00897446e+01,-2.10574851e+00]

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([  6.41436229,   2.24430303,   6.00892232,   2.24430303,
        35.67404531, -10.92834818,   6.00892232, -10.92834818,
        10.49604677,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005978266213635258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28549336e-14, -1.85709867e-13,  1.00000000e+00,  1.72440774e-26,
        1.00000000e+00,  1.85709867e-13, -1.00000000e+00,  0.00000000e+00,
        9.28549336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0993862 , -0.09624259,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.81778340e-06, 8.93130004e-05,-4.90514171e+00,-7.20941691e-03,
 -1.20199517e-03, 4.81214665e-06]


--- 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,
  9.52131793e-02,-6.98820079e-02, 1.30403243e-01, 9.82320270e-01,
  2.37728883e-04,-1.01158147e-03,-1.87205256e-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,
  2.17908274e+00, 3.37532880e-01, 8.45536979e-01,-1.98550726e+01,
  2.84452872e+01, 3.09809738e+00]

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([ 6.47077508, -3.38425675,  5.51522768, -3.38425675, 29.59948726,
       14.19225187,  5.51522768, 14.19225187, 15.17943173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006045850944331947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59084683e-14, -5.13093792e-07,  1.00000000e+00, -2.35553501e-20,
        1.00000000e+00,  5.13093792e-07, -1.00000000e+00, -3.00926554e-36,
       -4.59084683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08029219, -0.07179506,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.94641824e-05, 1.04211557e-04,-4.90519956e+00,-7.20817543e-03,
 -1.19199195e-03, 1.17562149e-05]


--- 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,
  9.52009099e-02,-6.98711921e-02, 1.30405617e-01, 9.82297734e-01,
  1.75604955e-04,-1.12474588e-03,-1.87322895e-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 ,  1.7680538 , -0.58396023,  0.74884829, -4.49249261,
  28.83378705,  1.25896103]

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([  6.51416823,   6.16220998,   2.11223956,   6.16220998,
        11.53257596, -14.64061306,   2.11223956, -14.64061306,
        49.22643127,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006097873217105615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.10336264e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.10336264e-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([ 0.08317885, -0.06474762,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.19182972e-05, 7.52367408e-05,-4.90512091e+00,-7.20794822e-03,
 -1.18309763e-03, 1.61071274e-05]


--- 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,
  9.51955891e-02,-6.98626349e-02, 1.30410156e-01, 9.82275625e-01,
  1.16154654e-04,-1.18150586e-03,-1.87438486e-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,  1.7371444 , -0.56464043,  0.54137916, -3.96865832,
  27.95380758,  1.03876838]

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([ 6.52160194,  3.30125462, -5.62432305,  3.30125462, 48.34086352,
       24.54624838, -5.62432305, 24.54624838, 20.92927646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000610678940519721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09007132e-14, -9.09007132e-14,  1.00000000e+00,  8.26293966e-27,
        1.00000000e+00,  9.09007132e-14, -1.00000000e+00,  0.00000000e+00,
        9.09007132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08318159, -0.06474521,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.88076576e-05, 5.15009858e-05,-4.90506249e+00,-7.20700042e-03,
 -1.17598039e-03, 1.75619563e-05]


--- 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,
  9.51970927e-02,-6.98563161e-02, 1.30416149e-01, 9.82253882e-01,
  6.02655536e-05,-1.18348363e-03,-1.87552410e-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,  1.70609943, -0.55961875,  0.36330646, -3.38414281,
  27.23967821,  0.84796467]

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: -0.0006079306713992251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77978132e-07, -3.77978188e-07,  1.00000000e+00, -1.42867489e-13,
        1.00000000e+00,  3.77978188e-07, -1.00000000e+00,  0.00000000e+00,
       -3.77978132e-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([ 0.08321982, -0.06465758,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.57661560e-05, 2.95372701e-05,-4.90502627e+00,-7.20548403e-03,
 -1.17224375e-03, 1.79607214e-05]


--- 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,
  9.52029155e-02,-6.98573258e-02, 1.30422441e-01, 9.82231865e-01,
  4.91927432e-05,-1.13798933e-03,-1.87667970e-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,  1.07980944, -1.83211961,  0.07499906, 17.55777714,
  27.51730556, -0.8567927 ]

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([  6.45957953,   4.07961923,   5.00828061,   4.07961923,
        30.33873425, -19.45135792,   5.00828061, -19.45135792,
        22.30416572,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006032434842587753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84042274e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84042274e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08771212, -0.05421457,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.25886850e-05, 8.96435327e-06,-4.90501007e+00,-7.20349411e-03,
 -1.17179830e-03, 1.73747536e-05]


--- 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,
  9.52130222e-02,-6.98655583e-02, 1.30428485e-01, 9.82209495e-01,
  8.24964110e-05,-1.04662833e-03,-1.87785529e-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  ,  1.07097745, -1.80568775, -0.06228427, 17.48901195,
  26.6896347 , -1.04155594]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005963138171831001
  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([ 0.08771438, -0.05421259,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.44844734e-06,-7.18752153e-06,-4.90500292e+00,-7.20370623e-03,
 -1.17253564e-03, 1.63852960e-05]


--- 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,
  9.52273840e-02,-6.98809274e-02, 1.30433810e-01, 9.82186703e-01,
  1.59809999e-04,-9.10677045e-04,-1.87905364e-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,
  1.06375704e+00,-1.78416653e+00,-1.79399750e-01, 1.74256012e+01,
  2.60304022e+01,-1.18261353e+00]

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: -0.0005874297195001682
  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([ 0.08771573, -0.05421022,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.84158686e-05,-1.97912580e-05,-4.90502151e+00,-7.20609039e-03,
 -1.17650203e-03, 1.56789771e-05]


--- 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,
  9.52472502e-02,-6.99008676e-02, 1.30438734e-01, 9.82163705e-01,
  2.60775709e-04,-7.27941379e-04,-1.88026218e-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,  1.37611206, -1.14276121, -0.10044631,  7.21943526,
  25.19750426, -0.53355849]

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([  6.24105268,  -2.26249654,  -5.81651511,  -2.26249654,
        39.11512307, -12.78729084,  -5.81651511, -12.78729084,
        11.21502777,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005770673022539409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80976404e-14,  5.94093397e-08,  1.00000000e+00, -2.85744906e-21,
        1.00000000e+00, -5.94093397e-08, -1.00000000e+00,  0.00000000e+00,
        4.80976404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08538797, -0.0596094 ,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.30594815e-05,-2.91354475e-05,-4.90506433e+00,-7.21065291e-03,
 -1.18360104e-03, 1.52292176e-05]


--- 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,
  9.52737565e-02,-6.99228882e-02, 1.30443214e-01, 9.82140851e-01,
  3.66015070e-04,-4.96063543e-04,-1.88146135e-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,  1.66002458, -0.52010651, -0.11115839, -2.52097441,
  24.53478186,  0.46500602]

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([  6.15568247,  -1.98584914,  -5.82656245,  -1.98584914,
        48.31797659, -14.37004341,  -5.82656245, -14.37004341,
        11.05337962,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005668261220301146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.79332975e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.79332975e-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([ 0.0831757 , -0.06473338,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -6.07090368e-05,-4.13048257e-05,-4.90511995e+00,-7.21606931e-03,
 -1.19494361e-03, 1.39574704e-05]


--- 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,
  9.52981837e-02,-6.99313201e-02, 1.30446519e-01, 9.82117687e-01,
  3.82951911e-04,-3.10356927e-04,-1.88267376e-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, -0.51977637,  3.39717556, -0.29352042,-39.01955896,
 -30.98052955, -0.64857525]

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([ 6.14830908,  2.88362424, -5.43013957,  2.88362424, 28.80174868,
       12.02989476, -5.43013957, 12.02989476, 12.53667087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005659406788835752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.80865191e-14, -9.80865191e-14,  1.00000000e+00,  9.62096524e-27,
        1.00000000e+00,  9.80865191e-14, -1.00000000e+00,  0.00000000e+00,
        9.80865191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09932359, -0.0962755 ,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.94667780e-05,-5.77836826e-05,-4.90518233e+00,-7.22107469e-03,
 -1.21047875e-03, 1.11136014e-05]


--- 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,
  9.53205388e-02,-6.99264440e-02, 1.30447944e-01, 9.82093983e-01,
  3.12488398e-04,-1.68354174e-04,-1.88391300e-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 , -0.51801531,  3.32700754, -0.46992089,-38.80502484,
 -29.68908424, -1.34643865]

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([ 6.15580005, -0.2678021 ,  6.14997206, -0.2678021 , 37.06902032,
        1.34612404,  6.14997206,  1.34612404,  6.21441737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005668402401330097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79308583e-14, -1.95861717e-13,  1.00000000e+00,  1.91809060e-26,
        1.00000000e+00,  1.95861717e-13, -1.00000000e+00,  0.00000000e+00,
        9.79308583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09931692, -0.09627748,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.93680047e-05,-5.77951478e-05,-4.90509208e+00,-7.21830269e-03,
 -1.22641625e-03, 3.74051337e-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,
  9.53408314e-02,-6.99084942e-02, 1.30446880e-01, 9.82069535e-01,
  1.55416859e-04,-6.80653562e-05,-1.88518965e-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, -0.51564981,  3.26842778, -0.622427  ,-38.59953804,
 -28.64224863, -1.89333223]

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([ 6.13541516,  0.07190939,  6.13499374,  0.07190939, 46.51649938,
       -0.47331411,  6.13499374, -0.47331411,  6.14096296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005643918813714732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96711374e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96711374e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09931185, -0.09628048,  0.06198256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.76070876e-05,-4.65675744e-05,-4.90506568e+00,-7.21082308e-03,
 -1.23882190e-03,-6.24435262e-07]


--- 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,
  9.53590720e-02,-6.98776645e-02, 1.30442800e-01, 9.82044154e-01,
 -8.75847719e-05,-7.88930328e-06,-1.88651191e-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, -0.51297517,  3.21995173, -0.75406301,-38.41373777,
 -27.79687464, -2.32146339]

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([ 6.09290611,  0.49265407,  6.07295619,  0.49265407, 57.93750079,
       -4.20576892,  6.07295619, -4.20576892,  6.43408907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005592816841294979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9850874e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9850874e-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([ 0.09930804, -0.09628429,  0.06198272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.29898518e-05,-2.39562628e-05,-4.90509961e+00,-7.19859258e-03,
 -1.24795187e-03,-2.16248551e-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,
  9.53708914e-02,-6.98567295e-02, 1.30440751e-01, 9.82020466e-01,
 -2.48753529e-04, 3.18650915e-05,-1.88774313e-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,
 -1.60531800e+00,-2.47365426e+00, 5.07908680e-01, 4.21081436e+01,
 -2.30894252e+00, 4.62860302e+00]

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([ 6.0980293 ,  1.01254813,  6.01337739,  1.01254813, 33.39074772,
       -4.59561892,  6.01337739, -4.59561892,  6.87185157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005598979188888853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.91451287e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.91451287e-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([ 0.10724195, -0.0491583 ,  0.0619827 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17894933e-04, 1.00359339e-05,-4.90519119e+00,-7.18158482e-03,
 -1.25400083e-03,-1.01322036e-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,
  9.53764841e-02,-6.98454621e-02, 1.30439769e-01, 9.81998247e-01,
 -3.30486809e-04, 4.95928596e-05,-1.88889735e-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 , -1.5566583 , -2.41690485,  0.26667813, 41.08272314,
  -3.31859152,  3.91826776]

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([  6.181337  ,  -3.34820432,  -5.19600374,  -3.34820432,
        25.70337599, -12.57962435,  -5.19600374, -12.57962435,
        14.28740362,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005699056229978294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74041122e-14, -9.74041122e-14,  1.00000000e+00,  9.48756107e-27,
        1.00000000e+00,  9.74041122e-14, -1.00000000e+00,  0.00000000e+00,
        9.74041122e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10724766, -0.04916397,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.01109658e-05, 2.18357330e-06,-4.90508310e+00,-7.17126908e-03,
 -1.24848237e-03,-9.18650426e-07]


--- 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,
  9.53760138e-02,-6.98436669e-02, 1.30439012e-01, 9.81977306e-01,
 -3.34799768e-04, 4.40786452e-05,-1.88998563e-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,-1.51575315,-2.3680503 ,
  0.05630097,40.20844379,-4.1009622 , 3.35603011]

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([  6.22282974,  -3.57056171,  -5.09653794,  -3.57056171,
        30.5302578 , -17.02943703,  -5.09653794, -17.02943703,
        18.15341016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005748826653550337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82804184e-14,  9.65608368e-14,  1.00000000e+00, -4.66199760e-27,
        1.00000000e+00, -9.65608368e-14, -1.00000000e+00,  0.00000000e+00,
        4.82804184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10725274, -0.04916751,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.25096206e-05, 2.59039028e-06,-4.90502055e+00,-7.16597670e-03,
 -1.24348212e-03,-7.32734238e-07]


--- 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,
  9.53696171e-02,-6.98511774e-02, 1.30437750e-01, 9.81957478e-01,
 -2.63374555e-04, 1.44021260e-05,-1.89101673e-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 , -1.48160885, -2.32642726, -0.12626462, 39.46996396,
  -4.70719651,  2.91074483]

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([  6.23005513,  -3.82689305,  -4.91614447,  -3.82689305,
        35.75064214, -22.97982292,  -4.91614447, -22.97982292,
        24.11832615,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005757489513265601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64155490e-14, -9.64155490e-14,  1.00000000e+00,  9.29595809e-27,
        1.00000000e+00,  9.64155490e-14, -1.00000000e+00,  0.00000000e+00,
        9.64155490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10725733, -0.04916933,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  3.71609257e-06, 1.05353129e-05,-4.90500062e+00,-7.16561944e-03,
 -1.23870405e-03,-5.46845370e-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,
  9.53574071e-02,-6.98678533e-02, 1.30435352e-01, 9.81938612e-01,
 -1.17603709e-04,-4.01348782e-05,-1.89199753e-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, -1.45333352, -2.29134508, -0.28410536, 38.85279549,
  -5.17719715,  2.55780066]

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([  6.20960722,  -4.12202002,  -4.64415468,  -4.12202002,
        40.67703547, -30.59231206,  -4.64415468, -30.59231206,
        33.36247601,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005732970682810756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68279001e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.68279001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10726155, -0.04916978,  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:
[ 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,
 -1.72878869e-05, 2.55095720e-05,-4.90502099e+00,-7.17011848e-03,
 -1.23392690e-03,-4.21014327e-07]


--- 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,
  9.53394764e-02,-6.98935777e-02, 1.30431273e-01, 9.81920569e-01,
  1.01372048e-04,-1.20064560e-04,-1.89293345e-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,-1.4301398 ,-2.26212842,
 -0.42019709,38.34364733,-5.54209719, 2.27774699]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005682057813116287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76955058e-14, -1.95391012e-13,  1.00000000e+00,  1.90888237e-26,
        1.00000000e+00,  1.95391012e-13, -1.00000000e+00,  0.00000000e+00,
        9.76955058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10726549, -0.04916914,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.12482757e-05, 4.71675139e-05,-4.90507989e+00,-7.17940521e-03,
 -1.22898520e-03,-3.94100325e-07]


--- 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,
  9.53193765e-02,-6.99053759e-02, 1.30427415e-01, 9.81901725e-01,
  2.23888263e-04,-2.46644689e-04,-1.89390846e-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 , -0.54234126,  3.4815378 ,  0.05523795,-42.94268873,
 -32.0333383 , -1.98617221]

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([  6.19229125,  -1.39375437,  -6.03340034,  -1.39375437,
        56.94578744, -11.72438481,  -6.03340034, -11.72438481,
         8.90069972,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005712199902540571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.71799870e-14, -1.94359974e-13,  1.00000000e+00,  1.88878997e-26,
        1.00000000e+00,  1.94359974e-13, -1.00000000e+00,  0.00000000e+00,
        9.71799870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09926998, -0.096279  ,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -3.87010601e-05, 7.52929323e-05,-4.90517593e+00,-7.19342108e-03,
 -1.22375498e-03,-4.90897191e-07]


--- 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,
  9.52971168e-02,-6.99035635e-02, 1.30422879e-01, 9.81881946e-01,
  2.52342096e-04,-4.17483578e-04,-1.89493023e-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, -0.53991727,  3.40266661, -0.16946439,-41.98937808,
 -30.63679141, -2.36793865]

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([  6.25749837,   2.82670794,   5.58265242,   2.82670794,
        31.58851693, -12.82605221,   5.58265242, -12.82605221,
        12.75181343,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005790383499519325
  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([ 0.09926439, -0.09627502,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.47267675e-05, 6.21386343e-05,-4.90510657e+00,-7.20094302e-03,
 -1.22099942e-03,-1.05865454e-07]


--- 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,
  9.52727066e-02,-6.98884101e-02, 1.30416880e-01, 9.81861109e-01,
  1.88762079e-04,-6.30653534e-04,-1.89600446e-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, -0.53765474,  3.33524187, -0.36582924,-41.17342921,
 -29.50282555, -2.6512666 ]

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([  6.28188492,   3.11242693,   5.45663603,   3.11242693,
        37.15423762, -17.60937353,   5.45663603, -17.60937353,
        16.32614812,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005819603515041655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53864831e-14, -9.53864831e-14,  1.00000000e+00,  9.09858116e-27,
        1.00000000e+00,  9.53864831e-14, -1.00000000e+00,  0.00000000e+00,
        9.53864831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09926017, -0.09627335,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.33530539e-06, 6.43545893e-05,-4.90510733e+00,-7.20321555e-03,
 -1.21467523e-03, 3.62744772e-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,
  9.52528835e-02,-6.98812632e-02, 1.30414095e-01, 9.81840221e-01,
  1.70708312e-04,-7.91218349e-04,-1.89707998e-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,  1.14679123, -2.00161513,  0.80361787, 17.36321284,
  30.14134237, -0.08735632]

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([ 6.32667066, -1.26997906,  6.197896  , -1.26997906, 37.47625483,
        6.38270144,  6.197896  ,  6.38270144,  7.63451726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005873248328112229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72576231e-14, -9.45152463e-14,  1.00000000e+00,  4.46656589e-27,
        1.00000000e+00,  9.45152463e-14, -1.00000000e+00,  0.00000000e+00,
        4.72576231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0877802 , -0.05418013,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.87032770e-05, 8.09688645e-05,-4.90517278e+00,-7.20031453e-03,
 -1.20501090e-03, 1.04357060e-05]


--- 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,
  9.52375667e-02,-6.98819171e-02, 1.30413579e-01, 9.81819169e-01,
  1.97866278e-04,-9.01703149e-04,-1.89816405e-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,  1.12658775, -1.95021566,  0.56714045, 17.44473486,
  28.87366194, -0.45761035]

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([ 6.38209602,  1.19708497, -6.26882263,  1.19708497, 45.70402143,
        7.50885592, -6.26882263,  7.50885592,  7.81597589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005939623221388191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67295224e-14,  9.34590447e-14,  1.00000000e+00, -4.36729652e-27,
        1.00000000e+00, -9.34590447e-14, -1.00000000e+00,  0.00000000e+00,
        4.67295224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08778574, -0.05417939,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.69072846e-05, 6.22826521e-05,-4.90509506e+00,-7.20244077e-03,
 -1.19334036e-03, 1.10184048e-05]


--- 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,
  9.52292695e-02,-6.98849380e-02, 1.30415519e-01, 9.81798528e-01,
  2.28081378e-04,-9.56988093e-04,-1.89922835e-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,  1.75489019, -0.59174267,  0.61425725, -3.73729194,
  27.38866721,  1.00275842]

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([ 6.40582436, -1.52559899, -6.22150572, -1.52559899, 30.3242477 ,
       -5.86512723, -6.22150572, -5.86512723,  7.84403443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005968040357234544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86507803e-07, -9.86507674e-07,  1.00000000e+00, -9.73197518e-13,
        1.00000000e+00,  9.86507674e-07, -1.00000000e+00, -2.01948392e-28,
       -9.86507803e-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([ 0.08324908, -0.06460078,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  2.52668829e-06, 4.83841432e-05,-4.90504965e+00,-7.20666547e-03,
 -1.18518869e-03, 1.18824267e-05]


--- 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,
  9.52278930e-02,-6.98902198e-02, 1.30419172e-01, 9.81778246e-01,
  2.61618855e-04,-9.58294477e-04,-1.90027598e-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,  1.73016697, -0.56522515,  0.42805295, -3.49417178,
  26.8138951 ,  0.84486574]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005961245511476587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86240111e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86240111e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08321331, -0.06468272,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.22761447e-06, 2.94202277e-05,-4.90501686e+00,-7.21041170e-03,
 -1.18258783e-03, 1.34075752e-05]


--- 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,
  9.52347916e-02,-6.98941756e-02, 1.30423572e-01, 9.81758910e-01,
  2.71610603e-04,-9.03176928e-04,-1.90127729e-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,  2.06877201,  0.33149901,  0.1867991 ,-16.91729852,
  25.46178459,  2.3674161 ]

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([ 6.36836561, -0.68514435, -6.33140251, -0.68514435, 41.59283197,
       -3.81176903, -6.33140251, -3.81176903,  6.78085115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005923180501196841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68592433e-14, -1.12173531e-08,  1.00000000e+00,  5.25636678e-22,
        1.00000000e+00,  1.12173531e-08, -1.00000000e+00, -9.40395481e-38,
        4.68592433e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08028768, -0.0717108 ,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.93840014e-06, 1.16595889e-05,-4.90500358e+00,-7.21368228e-03,
 -1.18325270e-03, 1.39500730e-05]


--- 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,
  9.52498514e-02,-6.98968082e-02, 1.30428153e-01, 9.81740443e-01,
  2.58898325e-04,-7.92183165e-04,-1.90223572e-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,  2.04030188,  0.33081348,  0.0450682 ,-16.45493085,
  25.27112773,  2.19015931]

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: -0.0005864176917645333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73307269e-14,  3.62074381e-08,  1.00000000e+00,  1.71372436e-21,
        1.00000000e+00, -3.62074381e-08, -1.00000000e+00, -3.76158192e-37,
       -4.73307269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08028564, -0.07170925,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.17034233e-06,-9.02136324e-06,-4.90500565e+00,-7.21475553e-03,
 -1.18835709e-03, 1.31050414e-05]


--- 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,
  9.52715970e-02,-6.99015750e-02, 1.30432937e-01, 9.81722177e-01,
  2.50816317e-04,-6.28995782e-04,-1.90318441e-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, 1.67147131,-0.53356444,
  0.05105744,-2.69100621,26.06089345, 0.48910858]

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: -0.0005790553396256698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.58650192e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.58650192e-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([ 0.08321246, -0.06467776,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.68310444e-07,-2.72959715e-05,-4.90503114e+00,-7.21372941e-03,
 -1.19641078e-03, 1.06312618e-05]


--- 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,
  9.52999575e-02,-6.99084901e-02, 1.30437510e-01, 9.81704055e-01,
  2.47860495e-04,-4.14354958e-04,-1.90412486e-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, 1.65369477,-0.53706437,
 -0.05313395,-2.37978394,25.74444514, 0.40972917]

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: -0.0005700881242059527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.73018697e-07, -7.73018725e-07,  1.00000000e+00, -5.97557927e-13,
        1.00000000e+00,  7.73018725e-07, -1.00000000e+00,  0.00000000e+00,
       -7.73018697e-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([ 0.08324807, -0.06459244,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.05425812e-06,-4.24598267e-05,-4.90507209e+00,-7.21244812e-03,
 -1.20640762e-03, 7.65956398e-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,
  9.53262890e-02,-6.99021785e-02, 1.30439908e-01, 9.81685237e-01,
  1.58071066e-04,-2.41906800e-04,-1.90509876e-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, -0.50722443,  3.30667052, -0.54332199,-38.60605315,
 -28.97801629, -1.68526498]

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([ 6.15864795,  2.67244155, -5.5486035 ,  2.67244155, 30.46651174,
       11.70769281, -5.5486035 , 11.70769281, 11.79756679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005671821883421191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.78718168e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.78718168e-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([ 0.09921388, -0.09629253,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -8.68319227e-06,-5.70469973e-05,-4.90512937e+00,-7.21086518e-03,
 -1.21954796e-03, 3.85238784e-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,
  9.53506049e-02,-6.98828610e-02, 1.30439562e-01, 9.81665540e-01,
 -1.78603515e-05,-1.09920346e-04,-1.90611530e-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 , -0.50391179,  3.25146349, -0.68619677,-38.42842956,
 -28.06622211, -2.16301336]

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([ 6.12636672e+00, -4.17129492e-02,  6.12622471e+00, -4.17129492e-02,
        5.38819322e+01,  3.25163632e-01,  6.12622471e+00,  3.25163632e-01,
        6.12858073e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0005633046691756044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.85455194e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.85455194e-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([ 0.09920967, -0.09629624,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.17660100e-05,-4.70273357e-05,-4.90510608e+00,-7.20225869e-03,
 -1.23261880e-03,-1.08184642e-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,
  9.53793090e-02,-6.98710519e-02, 1.30440198e-01, 9.81645610e-01,
 -1.48446478e-04, 7.21656671e-05,-1.90714104e-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,  1.0970575 , -1.87707866,  0.245362  , 17.48212574,
  28.91216846, -0.47543889]

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([ 6.09528179, -1.42500361,  5.92636691, -1.42500361, 34.64604234,
        6.86507224,  5.92636691,  6.86507224,  7.74599848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005595674513358961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.98407363e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.98407363e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08781172, -0.05416711,  0.06198271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.13304493e-05,-2.56314834e-05,-4.90514198e+00,-7.18889193e-03,
 -1.24254106e-03,-3.27076507e-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,
  9.54018909e-02,-6.98687300e-02, 1.30441431e-01, 9.81626947e-01,
 -1.98993062e-04, 2.29894559e-04,-1.90809969e-01]

qacc:
[ -0.1742933 , -2.44868682, 11.33849965,-23.77654928,  8.6236641 ,
  -2.93923314, 10.73071714,-15.58629257,  1.43586811,  0.5068356 ,
   0.63591658, -7.12464055, -0.19486238,  0.39675009,-13.33232417,
  45.65955727, -1.53056392, -2.37182835,  0.14945694, 41.60770881,
  -4.3232396 ,  3.41464203]

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([ 6.15318271,  6.14730629, -0.26885479,  6.14730629,  6.22533464,
        1.64973815, -0.26885479,  1.64973815, 43.87408738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005665259535534289
  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([ 0.10733563, -0.04920987,  0.0619825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.26821442e-05,-4.95667737e-05,-4.90514370e+00,-7.18024990e-03,
 -1.25038232e-03,-7.27725035e-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,
  9.54184983e-02,-6.98757332e-02, 1.30442495e-01, 9.81609410e-01,
 -1.71681533e-04, 3.62599473e-04,-1.90899989e-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,-1.49362676,-2.33126347,
 -0.04243945,40.600663  ,-4.85476456, 2.98286387]

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([  6.18270977,  -4.92805771,  -3.73365067,  -4.92805771,
        22.03952126, -20.92945727,  -3.73365067, -20.92945727,
        33.80756876,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005700703549768177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86879828e-14,  1.94751931e-13,  1.00000000e+00,  9.48207866e-27,
        1.00000000e+00, -1.94751931e-13, -1.00000000e+00,  0.00000000e+00,
       -4.86879828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10733909, -0.04921361,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.40208397e-05,-4.27364717e-05,-4.90507476e+00,-7.17492124e-03,
 -1.25495315e-03,-6.11486763e-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,
  9.54292559e-02,-6.98919233e-02, 1.30442722e-01, 9.81592872e-01,
 -6.83131148e-05, 4.69799282e-04,-1.90984838e-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, -1.46243054, -2.29670448, -0.20899011, 39.76269007,
  -5.25902067,  2.64496261]

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([  6.18083716,  -5.13055231,  -3.44676385,  -5.13055231,
        23.52727894, -25.82040162,  -3.44676385, -25.82040162,
        44.61483695,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005698456417940201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87071824e-14, -9.74143648e-14,  1.00000000e+00,  4.74477924e-27,
        1.00000000e+00,  9.74143648e-14, -1.00000000e+00,  0.00000000e+00,
        4.87071824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10734241, -0.0492156 ,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.60116563e-05,-2.89447362e-05,-4.90504854e+00,-7.17462110e-03,
 -1.25958006e-03,-5.08843255e-06]


--- 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,
  9.54342685e-02,-6.99171839e-02, 1.30441538e-01, 9.81577218e-01,
  1.09636267e-04, 5.51149530e-04,-1.91065040e-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, -1.43626178, -2.2676583 , -0.35301074, 39.07144713,
  -5.56532229,  2.38127182]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005665933889575786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89867622e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.89867622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10734563, -0.04921619,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.83894049e-05,-8.59026279e-06,-4.90506259e+00,-7.17924700e-03,
 -1.26409188e-03,-4.22053110e-06]


--- 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,
  9.54371992e-02,-6.99285914e-02, 1.30440293e-01, 9.81560686e-01,
  1.92511000e-04, 5.87866115e-04,-1.91149776e-01]

qacc:
[-1.06791313e+01, 6.89098431e+00,-1.97336084e+01, 1.38701224e+01,
 -2.46763183e+00, 1.59152560e+00,-5.77015596e+00, 7.62746311e+00,
  7.57368292e+00,-1.11964918e+00, 4.48937825e+00,-3.55652359e+00,
 -2.31275575e-01, 3.35378111e-01,-4.13568016e+00, 1.40400068e+01,
 -5.20459354e-01, 3.46329213e+00,-1.52146351e-02,-4.23962910e+01,
 -3.09884206e+01,-2.33260851e+00]

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: -0.0005732570395539788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.68346612e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.68346612e-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([ 0.0991794 , -0.09629708,  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:
[-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,
 -5.38264215e-05, 1.80674607e-05,-4.90511500e+00,-7.18871298e-03,
 -1.26836296e-03,-3.52145083e-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,
  9.54380691e-02,-6.99264539e-02, 1.30438126e-01, 9.81543166e-01,
  1.82442939e-04, 5.82097634e-04,-1.91239749e-01]

qacc:
[-12.95835082, 24.96424435,-77.37472072, 77.53977644, -1.54193729,
   3.84875393, -8.08506281, -3.6263364 ,  4.57807022,  0.42351751,
  -3.97397326, 17.13639753, -0.54445863,  0.6181342 ,  6.28809481,
 -21.25222635, -0.51522272,  3.38625864, -0.23024218,-41.55235658,
 -29.73404679, -2.68787949]

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([  6.26016141,   2.59352287,   5.69765391,   2.59352287,
        38.04107865, -14.46639918,   5.69765391, -14.46639918,
        12.84514144,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005793574786287087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.58150249e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.58150249e-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([ 0.09917469, -0.09629442,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.40320802e-05, 5.35625972e-06,-4.90502332e+00,-7.19223642e-03,
 -1.27460935e-03,-7.64320907e-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,
  9.54368975e-02,-6.99110333e-02, 1.30434290e-01, 9.81524548e-01,
  8.12368401e-05, 5.35586601e-04,-1.91335487e-01]

qacc:
[ -23.34092014,  59.08724306,-176.49012986, 174.298945  ,   5.07061005,
    3.73571717,  -7.57244113,   1.74645094,  -0.68317915,  24.50247811,
  -87.33677031, 122.18885966,  -0.32874141,   0.46472893,  -2.58401411,
    8.60709169,  -0.51037241,   3.32075415,  -0.41754917, -40.8303841 ,
  -28.71010035,  -2.9569511 ]

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([  6.27310436,   2.93422163,   5.54456326,   2.93422163,
        44.54619067, -20.25438482,   5.54456326, -20.25438482,
        16.99186639,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005809083586021946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91118445e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91118445e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09917115, -0.0962938 ,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.44528291e-06, 7.26806652e-06,-4.90500083e+00,-7.19056311e-03,
 -1.27749186e-03,-8.53432419e-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,
  9.54337018e-02,-6.98825505e-02, 1.30428133e-01, 9.81504720e-01,
 -1.09594903e-04, 4.49740526e-04,-1.91437380e-01]

qacc:
[ -53.6925465 ,  76.03323065,-200.74614741, 147.85168191,   2.85303267,
   19.13072185, -50.42852059,  43.47875512,   4.91537661,  53.82114845,
 -166.93328355, 167.49354855,  -0.41885156,   0.66600905,  -3.66052236,
   12.54219598,  -0.50602672,   3.26557006,  -0.58020956, -40.22009332,
  -27.87836462,  -3.15865758]

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([  6.25534637,   3.30822332,   5.30895627,   3.30822332,
        50.5943122 , -27.62938571,   5.30895627, -27.62938571,
        23.47232337,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005787804544741676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59105492e-14, -1.91821098e-13,  1.00000000e+00,  1.83976669e-26,
        1.00000000e+00,  1.91821098e-13, -1.00000000e+00,  0.00000000e+00,
        9.59105492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09916854, -0.09629483,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.26446110e-05, 2.30429308e-05,-4.90504247e+00,-7.18375561e-03,
 -1.27721031e-03,-6.43790140e-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,
  9.54241193e-02,-6.98639511e-02, 1.30423872e-01, 9.81486355e-01,
 -2.20380971e-04, 3.41217740e-04,-1.91531643e-01]

qacc:
[ -83.69731724,  70.85261261,-159.69052084,  59.72347656,   1.18527148,
   36.66837734, -84.73499946,  39.88494897,   2.45536349,  62.01989153,
 -169.1099456 , 119.96458399,  -0.68362002,   1.03027614,   3.38643512,
  -11.28909818,  -1.5966766 ,  -2.47086139,   0.47414081,  41.45155424,
   -3.46752899,   3.90088453]

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([ 6.28853346,  1.23991752,  6.16508374,  1.23991752, 37.49687439,
       -6.27660067,  6.16508374, -6.27660067,  7.55087919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005827568440988085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76280560e-14, -9.52561120e-14,  1.00000000e+00,  4.53686344e-27,
        1.00000000e+00,  9.52561120e-14, -1.00000000e+00,  0.00000000e+00,
        4.76280560e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10736782, -0.04922875,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.13096871e-05, 5.19998500e-05,-4.90514440e+00,-7.17187098e-03,
 -1.27391611e-03,-1.53891830e-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,
  9.54083286e-02,-6.98549970e-02, 1.30420533e-01, 9.81469258e-01,
 -2.53198494e-04, 2.08846827e-04,-1.91619381e-01]

qacc:
[ -70.94133407,  75.22808208,-167.83497697,  73.324086  ,   0.20686675,
   49.71161679,-115.09312863,  70.1071797 ,  -2.09660533,  60.2068838 ,
 -146.0334723 ,  81.23346918,  -0.31168872,   0.43246251,  10.74126922,
  -36.77572207,  -1.5520656 ,  -2.41132008,   0.23041558,  40.54539367,
   -4.23751933,   3.33434096]

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([  6.35198401,  -3.10979819,  -5.53866916,  -3.10979819,
        33.43949401, -15.20883213,  -5.53866916, -15.20883213,
        14.89129142,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005903563033036047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70149560e-14, -9.40299120e-14,  1.00000000e+00,  4.42081217e-27,
        1.00000000e+00,  9.40299120e-14, -1.00000000e+00,  0.00000000e+00,
        4.70149560e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1073725 , -0.04923244,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.35920517e-05, 4.28390456e-05,-4.90508343e+00,-7.16658062e-03,
 -1.26172847e-03,-2.15030909e-06]


--- 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,
  9.53864783e-02,-6.98554848e-02, 1.30417268e-01, 9.81453259e-01,
 -2.09800459e-04, 5.17403437e-05,-1.91701472e-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,
 -1.51491445e+00,-2.36046135e+00, 1.86641491e-02, 3.97710708e+01,
 -4.83724143e+00, 2.88104325e+00]

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([  6.3749613 ,  -3.39466675,  -5.3959586 ,  -3.39466675,
        40.11470072, -21.22610275,  -5.3959586 , -21.22610275,
        19.72857475,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005931079067642425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67968397e-14, -1.87187359e-13,  1.00000000e+00, -8.75977681e-27,
        1.00000000e+00,  1.87187359e-13, -1.00000000e+00,  0.00000000e+00,
       -4.67968397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10737682, -0.04923434,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.46441533e-05, 4.17616649e-05,-4.90506723e+00,-7.16624648e-03,
 -1.24973652e-03,-2.71042337e-06]


--- 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,
  9.53586908e-02,-6.98652422e-02, 1.30413346e-01, 9.81438198e-01,
 -9.16537402e-05,-1.30777420e-04,-1.91778616e-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,
 -1.48426525e+00,-2.31741354e+00,-1.64544223e-01, 3.91168301e+01,
 -5.30581916e+00, 2.51717565e+00]

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([  6.3650753 ,  -3.73215263,  -5.15608576,  -3.73215263,
        47.00012556, -29.4130503 ,  -5.15608576, -29.4130503 ,
        27.65525514,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005919240261338388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68904359e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.68904359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10738087, -0.04923478,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.47460595e-06, 4.81621376e-05,-4.90509311e+00,-7.17078879e-03,
 -1.23771941e-03,-3.28723922e-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,
  9.53354459e-02,-6.98827361e-02, 1.30411255e-01, 9.81422753e-01,
  7.12032878e-05,-2.66497226e-04,-1.91857512e-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,
  1.13562520e+00,-1.93414815e+00, 4.57814644e-01, 1.74526469e+01,
  2.72519478e+01,-8.97431070e-01]

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: -0.000588299533376635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43586525e-14, -9.43586525e-14,  1.00000000e+00, -8.90355530e-27,
        1.00000000e+00,  9.43586525e-14, -1.00000000e+00,  0.00000000e+00,
       -9.43586525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08786157, -0.05414844,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.41523552e-07, 6.16123675e-05,-4.90515891e+00,-7.18013704e-03,
 -1.22551044e-03,-3.92713954e-06]


--- 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,
  9.53166616e-02,-6.99078118e-02, 1.30410231e-01, 9.81406847e-01,
  2.78587319e-04,-3.56780240e-04,-1.91938521e-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,
  1.11514865e+00,-1.89541903e+00, 2.66996920e-01, 1.74909470e+01,
  2.65676342e+01,-1.08913807e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005886320481848228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71526749e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.71526749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0878634 , -0.05414649,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.23952986e-05, 6.27117413e-05,-4.90514897e+00,-7.19240034e-03,
 -1.21780904e-03,-8.97768806e-07]


--- 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,
  9.52957599e-02,-6.99190097e-02, 1.30409152e-01, 9.81390064e-01,
  3.91342668e-04,-4.91890632e-04,-1.92023820e-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,
 -5.29341058e-01, 3.46943405e+00,-1.38907794e-02,-4.21332116e+01,
 -3.10791467e+01,-2.16549384e+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([ 6.40818058,  1.65522507, -6.19071953,  1.65522507, 40.06841164,
        8.99980334, -6.19071953,  8.99980334,  8.81447601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000597086234495281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.29700737e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.29700737e-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([ 0.09913993, -0.09628519,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.70743679e-05, 6.72953755e-05,-4.90516583e+00,-7.20684586e-03,
 -1.21327527e-03, 2.33798104e-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,
  9.52727524e-02,-6.99166506e-02, 1.30407130e-01, 9.81372287e-01,
  4.11582015e-04,-6.69749224e-04,-1.92114070e-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,
 -5.26454403e-01, 3.38925927e+00,-2.35844382e-01,-4.12938295e+01,
 -2.98601808e+01,-2.49423272e+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([  6.44492621,   2.32406239,   6.01130667,   2.32406239,
        39.90711342, -12.93698941,   6.01130667, -12.93698941,
        11.44656265,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006014877999768881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22897376e-14, -9.22897376e-14,  1.00000000e+00,  8.51739567e-27,
        1.00000000e+00,  9.22897376e-14, -1.00000000e+00,  0.00000000e+00,
        9.22897376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09913531, -0.09628356,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.51576434e-06, 5.49359330e-05,-4.90510576e+00,-7.21408904e-03,
 -1.20933417e-03, 3.26959406e-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,
  9.52476491e-02,-6.99010061e-02, 1.30403394e-01, 9.81353403e-01,
  3.41095628e-04,-8.88680758e-04,-1.92209760e-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,
 -5.23946943e-01, 3.32136050e+00,-4.28479661e-01,-4.05741099e+01,
 -2.88702593e+01,-2.73653732e+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([  6.44391382,   2.70137597,   5.85034983,   2.70137597,
        47.39349896, -18.90830949,   5.85034983, -18.90830949,
        15.17475118,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006013665108218907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.23083515e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.23083515e-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([ 0.09913187, -0.0962839 ,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.86600836e-06, 5.74389254e-05,-4.90511271e+00,-7.21615060e-03,
 -1.20196785e-03, 7.39578296e-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,
  9.52325317e-02,-6.98804569e-02, 1.30401563e-01, 9.81336165e-01,
  2.16910914e-04,-1.04106667e-03,-1.92297165e-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,   2.49646938,   1.22615866,   0.47640661, -32.74047645,
   27.49385823,   4.23587069]

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([ 6.49796662, -4.5291719 ,  4.65941758, -4.5291719 , 26.42023064,
       19.36537276,  4.65941758, 19.36537276, 25.32201503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000607844513399583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.13245904e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.13245904e-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([ 0.07731408, -0.07871768,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.60778314e-05, 7.39330522e-05,-4.90518204e+00,-7.21310052e-03,
 -1.19137091e-03, 1.44829332e-05]


--- 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,
  9.52245142e-02,-6.98622822e-02, 1.30402962e-01, 9.81319327e-01,
  9.62638523e-05,-1.13498397e-03,-1.92382642e-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,
  1.77498893e+00,-5.93621536e-01, 8.07344040e-01,-3.88490120e+00,
  2.90292440e+01, 9.76187791e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006122851320631284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.06622557e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.06622557e-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([ 0.08325597, -0.06462451,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.24843714e-05, 5.44084813e-05,-4.90513159e+00,-7.20872931e-03,
 -1.18324310e-03, 1.91029839e-05]


--- 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,
  9.52222600e-02,-6.98490741e-02, 1.30406773e-01, 9.81302485e-01,
  4.99535243e-07,-1.17576008e-03,-1.92468308e-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,
  1.44081439e+00,-1.24164662e+00, 6.03167336e-01, 7.09713162e+00,
  2.84677268e+01,-1.09688476e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006141149225382566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.04494903e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.04494903e-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([ 0.08551292, -0.05952167,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.25957629e-05, 3.63337673e-05,-4.90507965e+00,-7.20364876e-03,
 -1.17637303e-03, 1.93508854e-05]


--- 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,
  9.52243683e-02,-6.98434061e-02, 1.30411804e-01, 9.81285310e-01,
 -4.91933363e-05,-1.16896626e-03,-1.92555889e-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,
  1.09061037e+00,-1.88504673e+00, 3.04756511e-01, 1.80260336e+01,
  2.77736981e+01,-9.99004077e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006139745046205569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35619193e-13, -9.04127953e-14,  1.00000000e+00,  1.22617103e-26,
        1.00000000e+00,  9.04127953e-14, -1.00000000e+00,  0.00000000e+00,
        1.35619193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08789309, -0.05414256,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.76762710e-05, 1.85965989e-05,-4.90503680e+00,-7.19938562e-03,
 -1.17221492e-03, 1.83426334e-05]


--- 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,
  9.52307844e-02,-6.98451427e-02, 1.30417365e-01, 9.81267744e-01,
 -5.34385851e-05,-1.11623607e-03,-1.92645700e-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,
  1.07697618e+00,-1.85111550e+00, 1.32712100e-01, 1.78745702e+01,
  2.69137749e+01,-1.15667315e+00]

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: -0.0006102042072348574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09714331e-14, -9.09714331e-14,  1.00000000e+00,  8.27580164e-27,
        1.00000000e+00,  9.09714331e-14, -1.00000000e+00,  0.00000000e+00,
        9.09714331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08789533, -0.05414122,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  1.52077654e-05, 2.98424955e-06,-4.90500752e+00,-7.19734869e-03,
 -1.17061939e-03, 1.70720218e-05]


--- 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,
  9.52414629e-02,-6.98541713e-02, 1.30422868e-01, 9.81249731e-01,
 -1.27635624e-05,-1.01888341e-03,-1.92737975e-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,
  1.06559130e+00,-1.82302296e+00,-1.46602822e-02, 1.77398568e+01,
  2.62199551e+01,-1.27627025e+00]

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: -0.0006036719294430087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59779133e-14, -2.75867480e-13,  1.00000000e+00,  1.26838111e-26,
        1.00000000e+00,  2.75867480e-13, -1.00000000e+00,  0.00000000e+00,
        4.59779133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08789665, -0.05413933,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24795095e-07,-9.05377293e-06,-4.90500521e+00,-7.19754460e-03,
 -1.17227877e-03, 1.61274302e-05]


--- 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,
  9.52563667e-02,-6.98704002e-02, 1.30427809e-01, 9.81231217e-01,
  7.23939095e-05,-8.77957159e-04,-1.92832890e-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,
  1.05630752e+00,-1.80007750e+00,-1.40428832e-01, 1.76237044e+01,
  2.56647801e+01,-1.36586781e+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: -0.0005950074575689079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.32948832e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.32948832e-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([ 0.08789725, -0.05413702,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -1.83235549e-05,-1.78180056e-05,-4.90502808e+00,-7.19996811e-03,
 -1.17709309e-03, 1.54714630e-05]


--- 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,
  9.52754663e-02,-6.98937558e-02, 1.30431760e-01, 9.81212144e-01,
  2.01678582e-04,-6.94285554e-04,-1.92930571e-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,
  1.04896823e+00,-1.78166316e+00,-2.47398901e-01, 1.75269447e+01,
  2.52257811e+01,-1.43176532e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847429426730916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74662858e-14,  9.49325715e-14,  1.00000000e+00, -4.50609657e-27,
        1.00000000e+00, -9.49325715e-14, -1.00000000e+00,  0.00000000e+00,
        4.74662858e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08789729, -0.05413438,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.93971967e-05,-2.35168955e-05,-4.90507485e+00,-7.20461242e-03,
 -1.18498377e-03, 1.50766265e-05]


--- 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,
  9.52987396e-02,-6.99241804e-02, 1.30434359e-01, 9.81192454e-01,
  3.74811089e-04,-4.68512389e-04,-1.93031105e-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,
  1.04341770e+00,-1.76723711e+00,-3.38098643e-01, 1.74497472e+01,
  2.48845734e+01,-1.47887442e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005733253846081365
  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([ 0.0878969 , -0.05413151,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.33640554e-05,-2.62852286e-05,-4.90514457e+00,-7.21147033e-03,
 -1.19588967e-03, 1.49235465e-05]


--- 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,
  9.53199965e-02,-6.99406914e-02, 1.30436759e-01, 9.81172296e-01,
  4.56012924e-04,-2.89139040e-04,-1.93133723e-01]

qacc:
[ 6.30448835e+00, 9.71507744e+01,-1.94136041e+02, 1.51102268e+02,
  2.69270345e+00, 1.13100179e+02,-2.33920516e+02, 1.81360292e+02,
 -3.97538709e-01, 1.08334623e+02,-2.25482688e+02, 1.73364663e+02,
 -4.76962049e-01, 5.68000933e-01,-3.81662168e-01, 1.85300998e+00,
 -5.04085254e-01, 3.47837447e+00,-4.98172926e-02,-4.06229384e+01,
 -3.16368157e+01,-1.03719027e+00]

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([ 6.23122574,  1.42635932, -6.06577887,  1.42635932, 39.55819405,
        7.83678946, -6.06577887,  7.83678946,  8.0740357 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005758892915570801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.63920532e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.63920532e-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([ 0.09908192, -0.09630919,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.02539771e-05,-2.61974910e-05,-4.90523660e+00,-7.22053494e-03,
 -1.20976394e-03, 1.49995251e-05]


--- 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,
  9.53392522e-02,-6.99436164e-02, 1.30438112e-01, 9.81151477e-01,
  4.46799984e-04,-1.53615678e-04,-1.93239634e-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,  -0.50030508,   3.39649912,  -0.2617381 , -40.12210578,
  -30.24411409,  -1.65625245]

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([ 6.272186  ,  0.42024078,  6.25809195,  0.42024078, 36.80428291,
       -2.05027864,  6.25809195, -2.05027864,  6.40986545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005807983245563614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55773267e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.55773267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09907545, -0.09630873,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.48802921e-05,-3.80965777e-05,-4.90510760e+00,-7.22194101e-03,
 -1.22545380e-03, 6.39442827e-06]


--- 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,
  9.53565229e-02,-6.99332318e-02, 1.30437682e-01, 9.81129828e-01,
  3.48483952e-04,-5.98757167e-05,-1.93349774e-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,
 -4.96271304e-01, 3.32741044e+00,-4.45544213e-01,-3.96748505e+01,
 -2.91080554e+01,-2.13874370e+00]

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([ 6.27701931,  0.76693413,  6.22999065,  0.76693413, 45.78908443,
       -4.86407653,  6.22999065, -4.86407653,  6.87580453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000581377418391163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54821248e-14, -9.54821248e-14,  1.00000000e+00,  9.11683616e-27,
        1.00000000e+00,  9.54821248e-14, -1.00000000e+00,  0.00000000e+00,
        9.54821248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09907054, -0.09630987,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
 -2.66261694e-06,-3.73238027e-05,-4.90504706e+00,-7.21844737e-03,
 -1.23754065e-03, 1.01243022e-06]


--- 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,
  9.53718246e-02,-6.99097689e-02, 1.30434835e-01, 9.81107191e-01,
  1.62182277e-04,-6.24791321e-06,-1.93464864e-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,
 -4.92229589e-01, 3.26959336e+00,-6.04516657e-01,-3.92848077e+01,
 -2.81845117e+01,-2.51409896e+00]

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([ 6.25274977,  1.19044691,  6.13838056,  1.19044691, 56.26532756,
       -9.69918985,  6.13838056, -9.69918985,  8.13376227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005784692686615633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.5962144e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.5962144e-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([ 0.09906684, -0.09631229,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.79479124e-05,-2.40664400e-05,-4.90505029e+00,-7.21004900e-03,
 -1.24629054e-03,-1.38001766e-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,
  9.53851729e-02,-6.98734193e-02, 1.30429020e-01, 9.81083411e-01,
 -1.11169438e-04, 8.61486199e-06,-1.93585454e-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,
 -4.88345104e-01, 3.22165703e+00,-7.41793589e-01,-3.89528003e+01,
 -2.74373360e+01,-2.80530298e+00]

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: -0.0005727921388854196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.69132561e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.69132561e-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([ 0.09906411, -0.09631572,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-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,
  7.80726704e-05, 1.41648645e-06,-4.90511369e+00,-7.19675119e-03,
 -1.25190595e-03,-9.63497089e-07]


--- 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,
  9.53919063e-02,-6.98470760e-02, 1.30425880e-01, 9.81061305e-01,
 -3.02240570e-04, 1.75466462e-06,-1.93697252e-01]

qacc:
[  -8.9087257 , 118.9981545 ,-258.42439741, 207.46237571,  -6.08770214,
  112.38151982,-227.4602214 , 174.43606485,  -1.86954866, 141.50156151,
 -317.63781994, 238.04748505,  -0.39582493,   0.44600135,   3.83282683,
  -13.52143167,  -1.65375111,  -2.5015918 ,   0.66868336,  42.46473966,
   -2.69235783,   4.47429049]

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([ 6.22383534,  1.15487744,  6.11574889,  1.15487744, 36.80572635,
       -5.77498138,  6.11574889, -5.77498138,  7.31436339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005750032386043075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82702944e-14, -9.65405888e-14,  1.00000000e+00, -4.66004265e-27,
        1.00000000e+00,  9.65405888e-14, -1.00000000e+00,  0.00000000e+00,
       -4.82702944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10747021, -0.04928181,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.18524377e-04, 3.88290550e-05,-4.90523452e+00,-7.17856404e-03,
 -1.25454066e-03, 2.12431433e-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,
  9.53922348e-02,-6.98304805e-02, 1.30424343e-01, 9.81040655e-01,
 -4.13514926e-04,-2.82767815e-05,-1.93801606e-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,
 -1.60118871e+00,-2.43691482e+00, 4.00699431e-01, 4.13870824e+01,
 -3.63912579e+00, 3.78912351e+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([  6.32157739,  -3.23303807,  -5.43229285,  -3.23303807,
        26.78222754, -12.17718974,  -5.43229285, -12.17718974,
        13.56885199,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005867148380614695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.46135118e-14,  9.46135118e-14,  1.00000000e+00, -8.95171661e-27,
        1.00000000e+00, -9.46135118e-14, -1.00000000e+00,  0.00000000e+00,
        9.46135118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10747536, -0.04928753,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.39215818e-05, 2.52939152e-05,-4.90511575e+00,-7.16709684e-03,
 -1.24615552e-03, 1.90365877e-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,
  9.53863355e-02,-6.98234099e-02, 1.30423475e-01, 9.81021277e-01,
 -4.47092592e-04,-8.25681556e-05,-1.93899583e-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,
 -1.55698036e+00,-2.38124443e+00, 1.67110067e-01, 4.04629656e+01,
 -4.37241642e+00, 3.24469283e+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([  6.37259623,  -3.47219026,  -5.34358283,  -3.47219026,
        32.13290933, -16.73871468,  -5.34358283, -16.73871468,
        17.2491942 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005928246806518184
  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([ 0.10748003, -0.04929106,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.95801842e-05, 2.02454427e-05,-4.90504430e+00,-7.16068661e-03,
 -1.23823721e-03, 1.78576480e-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,
  9.53768391e-02,-6.98266840e-02, 1.30422701e-01, 9.81002452e-01,
 -4.01975040e-04,-1.41434934e-04,-1.93994865e-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,
 -8.99252258e-01,-2.58618147e+00, 2.37388792e-02, 3.90446614e+01,
  5.38462068e+00, 1.37170045e+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([  6.38740292,  -5.59813148,  -3.07568529,  -5.59813148,
        16.27446104, -17.99568097,  -3.07568529, -17.99568097,
        39.14179046,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005945978566218868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33591513e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.33591513e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10279559, -0.04760768,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.41260435e-05, 2.29145767e-05,-4.90501689e+00,-7.15923897e-03,
 -1.23049843e-03, 1.67997002e-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,
  9.53638284e-02,-6.98401159e-02, 1.30421308e-01, 9.80984044e-01,
 -2.79506571e-04,-2.05894377e-04,-1.94088087e-01]

qacc:
[ 5.36526220e+00, 8.53557292e+01,-1.74067356e+02, 1.35436570e+02,
 -9.15136082e-01, 9.21320299e+01,-1.86087461e+02, 1.24301536e+02,
 -5.94771825e-01, 6.67272714e+01,-1.12499728e+02, 8.39058251e+01,
  2.97940271e-01,-6.33768447e-01,-5.17401446e+00, 1.80763870e+01,
 -8.78587575e-01,-2.53943067e+00,-1.54769576e-01, 3.84834229e+01,
  4.75924714e+00, 1.04378839e+00]

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([  6.37325621,  -2.88602719,  -5.68236234,  -2.88602719,
        54.32893022, -24.35631004,  -5.68236234, -24.35631004,
        18.74363471,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005929037157543365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68129561e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.68129561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1027997 , -0.04760736,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.18426869e-06, 2.82355135e-05,-4.90502144e+00,-7.16296158e-03,
 -1.22396416e-03, 1.53211141e-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,
  9.53473707e-02,-6.98635496e-02, 1.30418681e-01, 9.80965923e-01,
 -8.08050277e-05,-2.76743524e-04,-1.94179749e-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,  -0.86175364,  -2.50046345,  -0.30850955,  38.01199913,
    4.26367809,   0.78494406]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005881653191257691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43801843e-14, -1.88760369e-13,  1.00000000e+00,  1.78152384e-26,
        1.00000000e+00,  1.88760369e-13, -1.00000000e+00,  0.00000000e+00,
        9.43801843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10280335, -0.04760595,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.26155023e-05, 4.23917427e-05,-4.90506448e+00,-7.17137730e-03,
 -1.21825246e-03, 1.78665973e-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,
  9.53353133e-02,-6.98945419e-02, 1.30416783e-01, 9.80947351e-01,
  1.61299043e-04,-3.03518979e-04,-1.94273460e-01]

qacc:
[ 2.19405477e+00, 8.73397857e+01,-1.79337288e+02, 1.16289757e+02,
 -1.87051534e+00, 1.09090236e+02,-2.36832826e+02, 1.76827710e+02,
 -4.21614013e+00, 9.90396865e+01,-2.00373256e+02, 1.44132176e+02,
 -9.87107717e-01, 1.05044459e+00, 5.88330179e+00,-1.91906920e+01,
  1.10008099e+00,-1.88966804e+00, 1.82254650e-01, 1.70087894e+01,
  2.58313620e+01,-1.05339600e+00]

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([  6.31307127,  -5.51874284,  -3.06567225,  -5.51874284,
        16.77703281, -18.83694931,  -3.06567225, -18.83694931,
        40.22285373,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005856960662307675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73890422e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.73890422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08794687, -0.05411204,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.55768261e-05, 6.50031512e-05,-4.90514429e+00,-7.18443988e-03,
 -1.21323496e-03, 2.38940839e-06]


--- Step 1730 ---
qpos:
[ 2.21424689e-03, 3.61044211e-02,-1.19281954e-02, 2.41157688e-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,
  9.53193595e-02,-6.99128917e-02, 1.30415632e-01, 9.80929812e-01,
  3.18830088e-04,-3.84997310e-04,-1.94361657e-01]

qacc:
[ 8.50136673e+01, 1.40944022e+02,-6.46346424e+02, 3.67435081e+02,
 -1.37410754e+00, 1.03902295e+02,-2.16279941e+02, 1.46157715e+02,
 -2.68196137e+00, 1.14398273e+02,-2.35622771e+02, 1.61627453e+02,
 -1.28344564e+00, 1.51313620e+00, 1.02636865e+01,-3.47215340e+01,
 -9.74110015e-01, 3.16064274e+00, 1.86587437e-01,-3.61664313e+01,
 -3.50448671e+01, 2.82192420e+00]

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([ 0.50877271,  0.50770765, -0.03290306,  0.50770765,  0.5114116 ,
        0.04071916, -0.03290306,  0.04071916,  1.13708598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025011853330183544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67110773e-01, -4.98113610e-01, -1.31853912e-03, -4.98113034e-01,
        8.67111776e-01, -7.57436700e-04,  1.52061033e-03,  0.00000000e+00,
       -9.99998844e-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([ 0.12716621, -0.03925173,  0.12634889])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.31197229,  1.71346126, -6.07495224,  1.71346126, 38.32981497,
        9.03074307, -6.07495224,  9.03074307,  8.85912456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005855644382702779
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.47993894e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.47993894e-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([ 0.09902327, -0.096309  ,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.48736865e-05, 7.05677406e-05,-4.90518772e+00,-7.20040374e-03,
 -1.21278978e-03, 5.52974415e-06]


--- Step 1731 ---
qpos:
[ 2.21725357e-03, 3.82483851e-02,-1.22193223e-02, 2.34234798e-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,
  9.52979107e-02,-6.99200816e-02, 1.30414611e-01, 9.80913050e-01,
  4.04597000e-04,-5.28762419e-04,-1.94445738e-01]

qacc:
[ 8.47716410e+01,-2.50727292e+00,-3.00951358e+02, 1.96637447e+02,
 -3.94704928e+00, 9.36097734e+01,-1.91574527e+02, 1.35356736e+02,
  4.24836455e+00, 1.12324186e+02,-2.30762536e+02, 1.65403970e+02,
 -5.58548642e-01, 5.56639926e-01, 1.74293572e+00,-6.35197267e+00,
 -1.37373085e+00, 2.78998925e+00, 3.26884770e-02,-2.91440399e+01,
 -3.75227706e+01, 2.11837152e+00]

qfrc_actuator:
[-8.29235838e-04, 1.40181212e-01, 1.39919530e-03, 2.11598877e-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([ 0.65742749, -0.21404329,  0.6216079 , -0.21404329,  0.1531022 ,
       -0.17365842,  0.6216079 , -0.17365842,  0.59763028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.504413139846384e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99955222e-01,  3.00760898e-03, -8.97258538e-03,  3.00748791e-03,
        9.99995477e-01,  2.69861504e-05,  8.97262596e-03,  0.00000000e+00,
       -9.99959745e-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([ 0.12731132, -0.03937328,  0.14238424])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.61868924, -0.61749442,  0.03843197, -0.61749442,  0.61897024,
        0.00451497,  0.03843197,  0.00451497,  0.69123218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004648106087471156
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74880314e-01, -2.22725640e-01,  1.28909641e-03, -2.22725445e-01,
        9.74881167e-01,  2.94512638e-04, -1.32231133e-03,  0.00000000e+00,
       -9.99999126e-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([ 0.12697222, -0.03918684,  0.12642292])
  solimp: array([9.0e-01, 9.5e-01, 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([  6.37647995,   2.4646027 ,   5.88092085,   2.4646027 ,
        34.58149289, -11.82028341,   5.88092085, -11.82028341,
        11.33017737,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005932897706720924
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35649896e-14, -9.35649896e-14,  1.00000000e+00,  8.75440728e-27,
        1.00000000e+00,  9.35649896e-14, -1.00000000e+00,  0.00000000e+00,
        9.35649896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09901729, -0.0963057 ,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.66720814e-04, 2.08540508e-02, 9.58238724e-03, 2.31256145e-03,
 -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,
 -2.46422426e-05, 5.35805585e-05,-4.90510391e+00,-7.20955208e-03,
 -1.21338509e-03, 3.36772250e-06]


--- Step 1732 ---
qpos:
[ 2.22341129e-03, 4.02081884e-02,-1.26327407e-02, 2.24434308e-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,
  9.52704418e-02,-6.99169684e-02, 1.30413105e-01, 9.80897325e-01,
  4.25121710e-04,-7.35042340e-04,-1.94524336e-01]

qacc:
[ 2.56889119e+01, 3.90719600e+01,-3.71061674e+02, 2.04139516e+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,
 -1.50503339e+00, 2.57576333e+00,-1.21330282e-01,-2.59193546e+01,
 -3.70024492e+01, 2.81957271e+00]

qfrc_actuator:
[-8.53667977e-04, 1.43646280e-01, 1.55252746e-03, 2.61210122e-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([ 0.6927373 , -0.42919553,  0.54376113, -0.42919553,  0.29868774,
       -0.31102684,  0.54376113, -0.31102684,  0.44724103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022139156218600097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99952277e-01,  3.03797194e-03, -9.28521415e-03,  3.03784098e-03,
        9.99995385e-01,  2.82083502e-05,  9.28525699e-03,  0.00000000e+00,
       -9.99956891e-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([ 0.12716522, -0.03949943,  0.14247232])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.80203216, -0.7894179 ,  0.14168615, -0.7894179 ,  0.78561703,
       -0.09145843,  0.14168615, -0.09145843,  0.29246277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006597401197495955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90054650e-01, -1.40672081e-01,  1.77670192e-03, -1.40671854e-01,
        9.90056244e-01,  2.52442583e-04, -1.79454645e-03,  0.00000000e+00,
       -9.99998390e-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([ 0.12680137, -0.03913163,  0.12648586])
  solimp: array([9.0e-01, 9.5e-01, 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([  6.40018257,   2.9725347 ,   5.66801327,   2.9725347 ,
        40.8192979 , -18.05077193,   5.66801327, -18.05077193,
        15.86673522,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005961283479573448
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.31194623e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.31194623e-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([ 0.09901275, -0.0963046 ,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10194137e-03, 3.52673192e-02, 1.58713718e-02, 3.69763311e-03,
  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,
 -3.32542327e-06, 5.15561140e-05,-4.90509698e+00,-7.21517877e-03,
 -1.20836770e-03, 4.10956083e-06]


--- Step 1733 ---
qpos:
[ 2.25690533e-03, 4.19667576e-02,-1.31488977e-02, 2.12514770e-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,
  9.52361242e-02,-6.99049512e-02, 1.30410993e-01, 9.80880616e-01,
  3.92430777e-04,-1.00993680e-03,-1.94607407e-01]

qacc:
[ 2.27573207e+02,-2.29078939e+01,-2.15504049e+02, 1.61875681e+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,
 -1.71219112e+00, 2.22600447e+00,-1.51613449e-01,-1.94273766e+01,
 -3.88290909e+01,-2.25474059e+00]

qfrc_actuator:
[-8.72680986e-04, 1.47519512e-01, 1.86551640e-03, 3.65197064e-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([0.76261789, 0.27379049, 0.71177582, 0.27379049, 0.26067627,
       0.19307602, 0.71177582, 0.19307602, 0.6883496 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00035855489939469655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99948249e-01,  3.08008128e-03, -9.69597955e-03,  3.07993649e-03,
        9.99995257e-01,  2.98645467e-05,  9.69602554e-03,  0.00000000e+00,
       -9.99952992e-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([ 0.12703383, -0.03959316,  0.1425465 ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.08831457, -0.99602413, -0.08831457,  2.46296174,
       -0.12972262, -0.99602413, -0.12972262,  1.0114339 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010114630350381822
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60448624e-01, -6.49387822e-01,  3.65339769e-03,  2.77823979e-03,
        2.37248780e-03,  9.99993326e-01, -6.49392155e-01,  7.60453699e-01,
        2.16840434e-19])
  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([ 0.12667842, -0.03918766,  0.1276316 ])
  solimp: array([9.0e-01, 9.5e-01, 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([  6.39101365,   2.91436827,   5.68783905,   2.91436827,
        55.39699498, -25.10997157,   5.68783905, -25.10997157,
        19.25700786,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000595030270299284
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84281187e-07,  2.84281236e-07,  1.00000000e+00,  8.08158073e-14,
        1.00000000e+00, -2.84281236e-07, -1.00000000e+00,  0.00000000e+00,
       -2.84281187e-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([ 0.09821742, -0.0956615 ,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28429898e-03, 4.82827932e-02, 2.22808758e-02, 5.23709644e-03,
  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,
  1.02506929e-05, 5.62287018e-05,-4.90514714e+00,-7.21785038e-03,
 -1.19834980e-03, 7.67722463e-06]


--- Step 1734 ---
qpos:
[ 2.29367760e-03, 4.35100932e-02,-1.37524543e-02, 1.99467543e-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,
  9.52061766e-02,-6.98940740e-02, 1.30412933e-01, 9.80853883e-01,
  3.44064497e-04,-1.26107080e-03,-1.94740729e-01]

qacc:
[ 2.80057128e+01,-6.34705451e+01,-1.38888367e+02, 2.41858179e+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,
  1.09251018e+00,-2.85003198e-01, 1.01314829e+00,-1.00232125e+01,
  1.01128977e+01,-2.56181320e+01]

qfrc_actuator:
[-9.13888190e-04, 1.50982769e-01, 2.32141569e-03, 5.05734297e-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([0.85675455, 0.36128934, 0.77685158, 0.36128934, 0.34360825,
       0.23864827, 0.77685158, 0.23864827, 0.74576671, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00046563144997518546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99942767e-01,  3.15966900e-03, -1.02215301e-02,  3.15950394e-03,
        9.99995008e-01,  3.22968131e-05,  1.02215812e-02, -6.77626358e-21,
       -9.99947758e-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([ 0.12691735, -0.03965626,  0.14260623])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.08863668, -0.99599552, -0.08863668,  2.37118536,
       -0.12203205, -0.99599552, -0.12203205,  1.01079177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011204641728212623
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.05866048e-01, -5.92089353e-01,  3.17979300e-03,  2.56250017e-03,
        1.88273110e-03,  9.99994944e-01, -5.92092346e-01,  8.05870122e-01,
       -2.16840434e-19])
  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([ 0.12657587, -0.03924868,  0.12871579])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.47775637, -4.30305302,  4.84201016, -4.30305302, 35.86421524,
       26.11549466,  4.84201016, 26.11549466, 29.68637311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006054217998277128
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58450218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.58450218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07727656, -0.07863029,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69756505e-03, 6.17503572e-02, 2.78592135e-02, 6.43455980e-03,
  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,
  1.93947647e-05, 7.68557088e-05,-4.90525792e+00,-7.21768992e-03,
 -1.18273490e-03, 1.32986411e-05]


--- Step 1735 ---
qpos:
[ 2.33344111e-03, 4.48557597e-02,-1.44267899e-02, 1.85869236e-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,
  9.51790404e-02,-6.98850644e-02, 1.30418468e-01, 9.80815970e-01,
  2.87303058e-04,-1.49959622e-03,-1.94929994e-01]

qacc:
[ 2.57263990e+01,-7.48262777e+01,-8.90483429e+01, 2.52299573e+02,
 -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,
  7.02866886e-01,-4.66909347e-01, 8.98891273e-01,-5.37826285e+00,
  5.34946878e+00,-2.85208615e+01]

qfrc_actuator:
[-9.37535730e-04, 1.53815213e-01, 2.88881764e-03, 6.31259039e-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([0.97385955, 0.53150062, 0.81603279, 0.53150062, 0.50447   ,
       0.30572403, 0.81603279, 0.30572403, 0.77473457, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005577772625160887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99937590e-01,  3.23778693e-03, -1.06926656e-02,  3.23760183e-03,
        9.99994758e-01,  3.46207546e-05,  1.06927217e-02, -6.77626358e-21,
       -9.99942831e-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([ 0.12682035, -0.03971338,  0.14265611])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.53911231, -0.84215287,  0.53911231,  6.88155487,
        3.76517793, -0.84215287,  3.76517793,  3.41024684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013211153507967617
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69555792, -0.71844265, -0.00627274, -0.00436314, -0.0045067 ,
        0.99998033, -0.71845678,  0.6955716 ,  0.        ])
  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([ 0.12649338, -0.03930134,  0.12963549])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.51900898,  5.77819617, -3.01826559,  5.77819617, 18.97544618,
       23.84672105, -3.01826559, 23.84672105, 52.17139704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006103679188702998
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54735165e-14, -1.81894066e-13,  1.00000000e+00, -8.27136280e-27,
        1.00000000e+00,  1.81894066e-13, -1.00000000e+00,  0.00000000e+00,
       -4.54735165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07727805, -0.07862691,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88935607e-03, 7.52958605e-02, 3.27856650e-02, 7.12203768e-03,
  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,
  3.73353359e-05, 1.17475262e-04,-4.90523082e+00,-7.21524275e-03,
 -1.16772066e-03, 1.82896083e-05]


--- Step 1736 ---
qpos:
[ 2.36869458e-03, 4.60522085e-02,-1.51791547e-02, 1.71551084e-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,
  9.51548527e-02,-6.98781733e-02, 1.30426713e-01, 9.80767885e-01,
  2.25926837e-04,-1.72317806e-03,-1.95170016e-01]

qacc:
[-3.69180195e+01, 6.10446318e+00,-2.77382137e+02, 3.87183655e+02,
 -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,
  7.37092413e-01,-5.29627877e-01, 6.77318076e-01,-3.75620009e+00,
  6.86375718e+00,-2.58819836e+01]

qfrc_actuator:
[-9.51671772e-04, 1.57136567e-01, 3.55921308e-03, 7.46520971e-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([1.07790824, 0.323927  , 1.02808437, 0.323927  , 0.28808398,
       0.24885643, 1.02808437, 0.24885643, 0.99949899, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006357646017510294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99932517e-01,  3.31628795e-03, -1.11338629e-02,  3.31608240e-03,
        9.99994501e-01,  3.69232984e-05,  1.11339241e-02,  0.00000000e+00,
       -9.99938016e-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([ 0.12674073, -0.0397663 ,  0.1426967 ])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.25574371, -0.96667404,  0.25574371,  1.46956271,
        0.12424577, -0.96667404,  0.12424577,  1.03280228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012918702193058648
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85918489, -0.51165996,  0.00232509,  0.00199769,  0.00118966,
        0.9999973 , -0.51166134,  0.85918721,  0.        ])
  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([ 0.12642858, -0.03934807,  0.13042605])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006110958169913694
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41935473e-13, -2.72516108e-13,  1.00000000e+00,  3.86797027e-26,
        1.00000000e+00,  2.72516108e-13, -1.00000000e+00,  0.00000000e+00,
        1.41935473e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07727823, -0.07862482,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05657749e-03, 8.84600043e-02, 3.69872628e-02, 7.51157733e-03,
  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,
  6.03487083e-05, 1.65806362e-04,-4.90522313e+00,-7.21190265e-03,
 -1.15353603e-03, 2.23862083e-05]


--- Step 1737 ---
qpos:
[ 2.40095950e-03, 4.70990977e-02,-1.59808715e-02, 1.57329772e-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,
  9.51320647e-02,-6.98737826e-02, 1.30437415e-01, 9.80708956e-01,
  1.64878530e-04,-1.94292642e-03,-1.95463914e-01]

qacc:
[-2.35051481e+01,-5.76882311e+01,-8.50884068e+01, 2.90646758e+02,
 -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,
  3.49945156e-01,-6.25090885e-01, 6.14213169e-01,-2.58479364e-01,
  1.89644831e+00,-2.74785169e+01]

qfrc_actuator:
[-9.53796122e-04, 1.61172442e-01, 4.34471913e-03, 8.95022432e-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([1.16554888, 0.60343676, 0.99718016, 0.60343676, 0.57426277,
       0.35781275, 0.99718016, 0.35781275, 0.94902094, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007035337515602275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99927651e-01,  3.38736933e-03, -1.15419957e-02,  3.38714369e-03,
        9.99994263e-01,  3.90972265e-05,  1.15420619e-02, -6.77626358e-21,
       -9.99933388e-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([ 0.12667533, -0.03981768,  0.14273007])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.35290289, -0.93558703,  0.35290289,  5.02729393,
        1.51911871, -0.93558703,  1.51911871,  1.57294248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014350696327703803
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75754104, -0.65276893, -0.00492995, -0.00373468, -0.00321815,
        0.99998785, -0.65277686,  0.75755024,  0.        ])
  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([ 0.12637847, -0.03939148,  0.13113167])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006085125786772089
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.84182462e-14, -9.12243283e-14,  1.00000000e+00,  6.24140855e-27,
        1.00000000e+00,  9.12243283e-14, -1.00000000e+00,  0.00000000e+00,
        6.84182462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07727739, -0.07862374,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83612943e-03, 9.99224404e-02, 4.16692161e-02, 8.01928318e-03,
  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,
  8.19537217e-05, 2.06875579e-04,-4.90520970e+00,-7.20877840e-03,
 -1.14033412e-03, 2.60109858e-05]


--- Step 1738 ---
qpos:
[ 2.41944425e-03, 4.80651115e-02,-1.68622138e-02, 1.42494322e-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,
  9.51112093e-02,-6.98719826e-02, 1.30449816e-01, 9.80641692e-01,
  1.07673003e-04,-2.15253710e-03,-1.95798944e-01]

qacc:
[-1.13452911e+02, 1.03185003e+02,-4.96708280e+02, 5.76862966e+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,
  4.83151664e-01,-6.47669848e-01, 4.24801845e-01, 8.54277463e-01,
  5.33512859e+00,-2.09885224e+01]

qfrc_actuator:
[-9.66183578e-04, 1.66655699e-01, 5.25508376e-03, 1.07593279e-03,
 -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([1.23342808, 0.19194697, 1.21840108, 0.19194697, 0.19000021,
       0.16438168, 1.21840108, 0.16438168, 1.20753138, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007605381456198845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99922740e-01,  3.45462386e-03, -1.19406798e-02,  3.45437757e-03,
        9.99994033e-01,  4.12508034e-05,  1.19407510e-02,  6.77626358e-21,
       -9.99928707e-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([ 0.12662292, -0.03986782,  0.14275624])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.97601144, -0.21740564, -0.97601144,  0.98230914,
        0.07911428, -0.21740564,  0.07911428,  0.64475956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014066289889830812
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92209506e-01, -4.51619182e-01,  1.52016814e-03, -4.51618527e-01,
        8.92210801e-01,  7.69478572e-04, -1.70382172e-03,  0.00000000e+00,
       -9.99998548e-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([ 0.12634148, -0.03943249,  0.13176446])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006033493259563066
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.75031214e-15, -9.20049942e-14,  1.00000000e+00,  5.29057435e-28,
        1.00000000e+00,  9.20049942e-14, -1.00000000e+00,  0.00000000e+00,
        5.75031214e-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([ 0.07727576, -0.07862346,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70151106e-03, 1.12855329e-01, 4.50444912e-02, 8.15150502e-03,
 -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,
  1.04348057e-04, 2.60685035e-04,-4.90521259e+00,-7.20515881e-03,
 -1.12678778e-03, 2.92071453e-05]


--- Step 1739 ---
qpos:
[ 2.42266174e-03, 4.89570044e-02,-1.78055717e-02, 1.27480208e-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,
  9.50916549e-02,-6.98728699e-02, 1.30463583e-01, 9.80567582e-01,
  5.81826967e-05,-2.35499119e-03,-1.96167447e-01]

qacc:
[-1.24886665e+02, 7.18900696e+01,-3.90512520e+02, 5.12854290e+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,
  3.25265405e-01,-6.71824580e-01, 3.41328971e-01, 3.04664963e+00,
  4.25517431e+00,-1.70913559e+01]

qfrc_actuator:
[-9.90494476e-04, 1.72963020e-01, 6.25487272e-03, 1.26525826e-03,
 -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([1.28678468, 0.21678538, 1.26839225, 0.21678538, 0.22007091,
       0.1823158 , 1.26839225, 0.1823158 , 1.25562444, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008116671964266048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99917970e-01,  3.50627397e-03, -1.23191019e-02,  3.50600790e-03,
        9.99993853e-01,  4.31944120e-05,  1.23191777e-02,  0.00000000e+00,
       -9.99924116e-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([ 0.12657965, -0.03991938,  0.14277774])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.98180733, -0.18952021, -0.98180733,  0.99192347,
        0.04148689, -0.18952021,  0.04148689,  0.78500939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014482846566537995
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05661712e-01, -4.23999566e-01,  1.10998581e-03, -4.23999248e-01,
        9.05662392e-01,  5.19656667e-04, -1.22560660e-03, -5.42101086e-20,
       -9.99999249e-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([ 0.12631419, -0.0394733 ,  0.13236431])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005962498647023307
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.32751211e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.32751211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07727352, -0.07862379,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03886839e-03, 1.23182007e-01, 5.00248357e-02, 8.64802271e-03,
 -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,
  1.17440594e-04, 2.96548277e-04,-4.90520181e+00,-7.20287594e-03,
 -1.11346017e-03, 3.21128860e-05]


--- Step 1740 ---
qpos:
[ 2.41623637e-03, 4.97581955e-02,-1.87840159e-02, 1.13057179e-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,
  9.50722571e-02,-6.98764703e-02, 1.30478549e-01, 9.80486574e-01,
  1.85658418e-05,-2.55842069e-03,-1.96569409e-01]

qacc:
[-7.79076128e+01,-9.49549311e+00,-1.64748838e+02, 3.89563905e+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,
  3.91202350e-02,-6.78274105e-01, 2.99950710e-01, 4.89726808e+00,
  4.81095228e-01,-1.70930361e+01]

qfrc_actuator:
[-1.01496029e-03, 1.79240045e-01, 7.23379332e-03, 1.42222935e-03,
 -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([1.32601793, 0.541079  , 1.21060195, 0.541079  , 0.49121435,
       0.37311578, 1.21060195, 0.37311578, 1.15925369, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008569939769652285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99913273e-01,  3.54148981e-03, -1.26848374e-02,  3.54120487e-03,
        9.99993729e-01,  4.49235043e-05,  1.26849170e-02, -6.77626358e-21,
       -9.99919543e-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([ 0.12654428, -0.03997211,  0.14279491])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.2641957 , -0.96439835,  0.2641957 ,  1.6870845 ,
        0.18824461, -0.96439835,  0.18824461,  1.05150114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015301437334920992
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8196706 , -0.57282271, -0.00377439, -0.00309378, -0.00216207,
        0.99999288, -0.57282679,  0.81967644,  0.        ])
  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([ 0.12629502, -0.03951404,  0.13293506])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005877394038985295
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47575904e-13, -9.44485785e-14,  1.00000000e+00,  1.39383343e-26,
        1.00000000e+00,  9.44485785e-14, -1.00000000e+00,  0.00000000e+00,
        1.47575904e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07727084, -0.07862459,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30174051e-03, 1.33144126e-01, 5.41054273e-02, 8.89476353e-03,
  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,
  1.23031548e-04, 3.27698871e-04,-4.90519327e+00,-7.20136870e-03,
 -1.09978431e-03, 3.47170411e-05]


--- Step 1741 ---
qpos:
[ 2.39731103e-03, 5.04992262e-02,-1.98045288e-02, 9.91012393e-04,
 -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,
  9.50528473e-02,-6.98827314e-02, 1.30494365e-01, 9.80400019e-01,
 -9.38557004e-06,-2.76280992e-03,-1.96997890e-01]

qacc:
[-1.01638111e+02, 4.78486076e+01,-3.05355059e+02, 4.97367851e+02,
 -1.97531221e+00, 5.94036611e+01,-1.06607190e+02, 5.15410595e+01,
  6.73674061e+00, 6.94112606e+01,-1.41331388e+02, 1.06044786e+02,
 -5.06626925e-01, 6.24571291e-01,-3.64323707e+00, 1.28740242e+01,
 -2.98812305e-03,-6.65195739e-01, 2.12546024e-01, 5.77936039e+00,
  6.68693001e-01,-1.35606669e+01]

qfrc_actuator:
[-1.02128392e-03, 1.85154561e-01, 8.18031724e-03, 1.55280498e-03,
 -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([1.35166892, 0.4268571 , 1.2824983 , 0.4268571 , 0.38523136,
       0.32166182, 1.2824983 , 0.32166182, 1.24460942, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008947442746162122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99908419e-01,  3.56739578e-03, -1.30547953e-02,  3.56709177e-03,
        9.99993637e-01,  4.65719179e-05,  1.30548783e-02, -6.77626358e-21,
       -9.99914781e-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([ 0.1265168 , -0.04002487,  0.14280711])
  solimp: array([9.0e-01, 9.5e-01, 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([ 9.99931767e-01,  2.44800991e-01, -9.69502973e-01,  2.44800991e-01,
        9.97512608e-01, -6.10841476e-04, -9.69502973e-01, -6.10841476e-04,
        9.99777529e-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: -0.0015454464428432493
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83656225, -0.54786047, -0.00353615, -0.00295823, -0.00193733,
        0.99999375, -0.5478639 ,  0.83656748,  0.        ])
  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([ 0.12628353, -0.03955421,  0.13346838])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005782960986401298
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39977199e-14, -9.59908797e-14,  1.00000000e+00, -2.30356225e-27,
        1.00000000e+00,  9.59908797e-14, -1.00000000e+00,  0.00000000e+00,
       -2.39977199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07726785, -0.07862575,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.27400993e-04, 1.43576456e-01, 5.68086167e-02, 8.73050263e-03,
 -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,
  1.26619651e-04, 3.70086476e-04,-4.90519715e+00,-7.19995874e-03,
 -1.08527978e-03, 3.71838622e-05]


--- Step 1742 ---
qpos:
[ 2.36414108e-03, 5.11926128e-02,-2.08588918e-02, 8.57980861e-04,
 -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,
  9.50331774e-02,-6.98915288e-02, 1.30510786e-01, 9.80309444e-01,
 -2.41426120e-05,-2.96868350e-03,-1.97445134e-01]

qacc:
[-1.15592659e+02, 4.52717411e+01,-2.79958929e+02, 4.81712806e+02,
 -6.41868711e+00, 5.67260330e+01,-1.10411635e+02, 7.51059376e+01,
  4.07480779e+00, 7.38508043e+01,-1.51646768e+02, 9.60206354e+01,
 -9.70631450e-01, 1.11460674e+00, 9.86927175e+00,-3.31818329e+01,
 -6.50264990e-02,-6.34050459e-01, 1.51160498e-01, 6.58814909e+00,
  5.66537558e-01,-9.61189565e+00]

qfrc_actuator:
[-9.92255340e-04, 1.89792156e-01, 9.09291477e-03, 1.66641894e-03,
 -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([1.36779695, 0.40910406, 1.30518289, 0.40910406, 0.38692647,
       0.3074497 , 1.30518289, 0.3074497 , 1.27142814, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0009268081147625348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99903403e-01,  3.58119958e-03, -1.34298364e-02,  3.58087660e-03,
        9.99993587e-01,  4.80952330e-05,  1.34299226e-02,  6.77626358e-21,
       -9.99909815e-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([ 0.12649517, -0.04007849,  0.14281545])
  solimp: array([9.0e-01, 9.5e-01, 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([ 9.99931767e-01,  2.08567116e-01, -9.77938289e-01,  2.08567116e-01,
        1.00284977e+00,  6.22329456e-04, -9.77938289e-01,  6.22329456e-04,
        1.00006449e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0015539999330376056
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85238006, -0.52291203, -0.0033536 , -0.00285856, -0.00175365,
        0.99999438, -0.52291497,  0.85238485,  0.        ])
  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([ 0.12627777, -0.03959457,  0.13397947])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00056831273420338
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.49433801e-14, -9.76771202e-14,  1.00000000e+00,  5.36671114e-27,
        1.00000000e+00,  9.76771202e-14, -1.00000000e+00,  0.00000000e+00,
        5.49433801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07726469, -0.07862715,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74623937e-04, 1.51207517e-01, 5.98282170e-02, 8.61150478e-03,
 -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,
  1.23932690e-04, 4.06432841e-04,-4.90520023e+00,-7.19965858e-03,
 -1.07023374e-03, 3.95844218e-05]


--- Step 1743 ---
qpos:
[ 2.31558864e-03, 5.18477984e-02,-2.19387643e-02, 7.33254980e-04,
 -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,
  9.50130518e-02,-6.99026679e-02, 1.30527600e-01, 9.80216488e-01,
 -2.46786086e-05,-3.17619973e-03,-1.97902873e-01]

qacc:
[-1.24578226e+02, 3.81228723e+01,-2.43833432e+02, 4.56035855e+02,
 -3.87653385e+00, 5.07698624e+01,-1.08296519e+02, 1.05507402e+02,
  2.49575377e+00, 6.79368503e+01,-1.42459731e+02, 1.05162532e+02,
 -8.19697818e-01, 6.38890692e-01, 2.42459135e+01,-8.29679123e+01,
 -1.13909952e-01,-5.85430139e-01, 9.82456898e-02, 7.11707374e+00,
  5.95381897e-01,-5.39970870e+00]

qfrc_actuator:
[-9.70776079e-04, 1.93852670e-01, 9.99376542e-03, 1.74837796e-03,
 -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([1.377061  , 0.39477281, 1.3192617 , 0.39477281, 0.39525376,
       0.29379372, 1.3192617 , 0.29379372, 1.28914685, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0009538695314342372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99898198e-01,  3.58131507e-03, -1.38118454e-02,  3.58097345e-03,
        9.99993587e-01,  4.94648873e-05,  1.38119340e-02, -6.77626358e-21,
       -9.99904611e-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([ 0.12647814, -0.04013285,  0.1428205 ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.98571167, -0.16803581, -0.98571167,  1.00109464,
       -0.0068215 , -0.16803581, -0.0068215 ,  1.03994726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015569695104955792
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67336625e-01, -4.97711584e-01, -3.21840464e-03, -4.97708158e-01,
        8.67342596e-01, -1.84683340e-03,  3.71064981e-03, -2.16840434e-19,
       -9.99993116e-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([ 0.12627632, -0.0396352 ,  0.13447233])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005580882818843197
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21666332e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.21666332e-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([ 0.07726144, -0.07862872,  0.06198277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58014709e-04, 1.57637841e-01, 6.24261067e-02, 8.36817561e-03,
 -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,
  1.15282468e-04, 4.35512873e-04,-4.90520367e+00,-7.20055446e-03,
 -1.05472722e-03, 4.19338286e-05]


--- Step 1744 ---
qpos:
[ 2.25046305e-03, 5.24784756e-02,-2.30414781e-02, 6.17284643e-04,
 -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,
  9.49923056e-02,-6.99159284e-02, 1.30544625e-01, 9.80122919e-01,
 -1.01095078e-05,-3.38524154e-03,-1.98362306e-01]

qacc:
[-1.34224967e+02, 4.96969179e+01,-2.60719773e+02, 4.66350787e+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,
 -1.55178568e-01,-5.30348917e-01, 5.28616774e-02, 7.55139317e+00,
  7.46012730e-01,-9.15486767e-01]

qfrc_actuator:
[-9.64743319e-04, 1.98570699e-01, 1.09105200e-02, 1.84246032e-03,
 -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([1.38160803, 0.34195425, 1.33862169, 0.34195425, 0.37257159,
       0.25776088, 1.33862169, 0.25776088, 1.31576237, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0009763741548926835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99892788e-01,  3.56668895e-03, -1.42018348e-02,  3.56632924e-03,
        9.99993639e-01,  5.06538494e-05,  1.42019251e-02,  0.00000000e+00,
       -9.99899148e-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([ 0.12646465, -0.04018755,  0.14282273])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99017928, -0.13931451, -0.99017928,  0.99861098,
        0.00938752, -0.13931451,  0.00938752,  0.93320989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00155533700765043
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88149484, -0.47218331, -0.00312519, -0.47218034,  0.88150038,
       -0.00167403,  0.0035453 ,  0.        , -0.99999372])
  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([ 0.12627796, -0.03967593,  0.13494755])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005478634459499809
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69941704e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.69941704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07725816, -0.07863039,  0.06198309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33224102e-03, 1.64255229e-01, 6.46236161e-02, 8.04820891e-03,
  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,
  1.01585599e-04, 4.55266597e-04,-4.90520719e+00,-7.20275317e-03,
 -1.03899891e-03, 4.42620291e-05]


--- Step 1745 ---
qpos:
[ 2.16810484e-03, 5.30964785e-02,-2.41642016e-02, 5.10575473e-04,
 -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,
  9.49707417e-02,-6.99310634e-02, 1.30561731e-01, 9.80030684e-01,
  2.04740270e-05,-3.59581540e-03,-1.98813804e-01]

qacc:
[-1.39546853e+02, 5.84650504e+01,-2.71413772e+02, 4.72557909e+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,
 -2.04417633e-01,-4.68644692e-01, 2.01664094e-02, 8.01344457e+00,
  8.39754132e-01, 3.99386946e+00]

qfrc_actuator:
[-9.07376899e-04, 2.03560556e-01, 1.18798578e-02, 1.99330245e-03,
 -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([1.38315734, 0.2901059 , 1.35239151, 0.2901059 , 0.35548856,
       0.22044857, 1.35239151, 0.22044857, 1.3358682 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0009949473856229734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99887158e-01,  3.53616537e-03, -1.46002500e-02,  3.53578845e-03,
        9.99993748e-01,  5.16292211e-05,  1.46003412e-02,  0.00000000e+00,
       -9.99893409e-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([ 0.12645351, -0.04024225,  0.14282266])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99307983, -0.11685886, -0.99307983,  0.99792825,
        0.01702609, -0.11685886,  0.01702609,  0.85524212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015502247445661407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89487334, -0.44630964, -0.00306933, -0.44630701,  0.8948786 ,
       -0.00153079,  0.00342988,  0.        , -0.99999412])
  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([ 0.12628138, -0.0397166 ,  0.13540613])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005378361385216246
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16060072e-14, -1.03212014e-13,  1.00000000e+00, -5.32635995e-27,
        1.00000000e+00,  1.03212014e-13, -1.00000000e+00,  0.00000000e+00,
       -5.16060072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07725492, -0.07863213,  0.0619834 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21743253e-03, 1.70461029e-01, 6.67408596e-02, 7.76259859e-03,
 -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,
  8.36683660e-05, 4.63903092e-04,-4.90521049e+00,-7.20634908e-03,
 -1.02327512e-03, 4.65793265e-05]


--- Step 1746 ---
qpos:
[ 2.06926531e-03, 5.37038691e-02,-2.52981202e-02, 4.14991001e-04,
 -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,
  9.49481797e-02,-6.99477811e-02, 1.30578817e-01, 9.79941721e-01,
  6.75770966e-05,-3.80790783e-03,-1.99247883e-01]

qacc:
[-1.33158997e+02, 4.03940615e+01,-2.10904444e+02, 4.28693227e+02,
 -2.95576251e+00, 4.93098489e+01,-1.14672485e+02, 1.07699561e+02,
 -2.53133578e+00, 5.58915331e+01,-1.25597233e+02, 9.79026978e+01,
 -3.61282071e-01, 4.50637073e-01,-3.99476729e+00, 1.38051670e+01,
 -2.49497683e-01,-3.95660670e-01,-4.97081178e-03, 8.27706608e+00,
  9.04092914e-01, 8.83099525e+00]

qfrc_actuator:
[-8.11921560e-04, 2.07522053e-01, 1.29403083e-02, 2.10318206e-03,
 -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([1.38323168, 0.28444433, 1.35366957, 0.28444433, 0.3799789 ,
       0.21081183, 1.35366957, 0.21081183, 1.33893414, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0010099725067743595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99881288e-01,  3.48914812e-03, -1.50078386e-02,  3.48875515e-03,
        9.99993913e-01,  5.23648905e-05,  1.50079300e-02,  0.00000000e+00,
       -9.99887375e-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([ 0.12644367, -0.04029637,  0.1428207 ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99669795, -0.08035383, -0.99669795,  0.99961843,
        0.00388653, -0.08035383,  0.00388653,  0.95172372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015425318934695878
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90740186, -0.42025298, -0.00304925, -0.42025061,  0.90740698,
       -0.00141222,  0.0033604 ,  0.        , -0.99999435])
  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([ 0.12628535, -0.03975683,  0.13584612])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005281575446711845
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.88275465e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.88275465e-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([ 0.07725177, -0.07863387,  0.0619837 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17374572e-03, 1.75047497e-01, 6.88080202e-02, 7.41080189e-03,
 -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,
  6.25254779e-05, 4.60093823e-04,-4.90521388e+00,-7.21141413e-03,
 -1.00777137e-03, 4.88831382e-05]


--- Step 1747 ---
qpos:
[ 1.95083912e-03, 5.43226660e-02,-2.64463710e-02, 3.29116487e-04,
 -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,
  9.49244981e-02,-6.99657995e-02, 1.30595812e-01, 9.79858622e-01,
  1.32420220e-04,-4.02052244e-03,-1.99651943e-01]

qacc:
[-1.58547594e+02, 7.53604524e+01,-2.87326656e+02, 4.69411512e+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,
 -2.79920882e-01,-3.25157987e-01,-2.29278809e-02, 8.80108951e+00,
  1.52366101e+00, 1.52593019e+01]

qfrc_actuator:
[-7.22976385e-04, 2.12627051e-01, 1.40546158e-02, 2.18291616e-03,
 -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([1.38323168, 0.0928234 , 1.38011365, 0.0928234 , 0.30129771,
       0.07276849, 1.38011365, 0.07276849, 1.37833743, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0010212102890391687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99875154e-01,  3.42644219e-03, -1.54251790e-02,  3.42603453e-03,
        9.99994130e-01,  5.28537943e-05,  1.54252695e-02,  0.00000000e+00,
       -9.99881023e-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([ 0.12643452, -0.04034887,  0.14281697])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99902448, -0.04258664, -0.99902448,  0.99937415,
        0.01308089, -0.04258664,  0.01308089,  0.69307196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015294714763864044
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41941718e-01, -3.35769611e-01, -2.13744524e-03, -3.35768746e-01,
        9.41944143e-01, -7.61923266e-04,  2.26918471e-03,  1.08420217e-19,
       -9.99997425e-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([ 0.12628907, -0.03979592,  0.13625989])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005189377409752227
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.67426836e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.67426836e-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([ 0.07724873, -0.0786356 ,  0.06198399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08602550e-03, 1.80674918e-01, 7.04885575e-02, 6.93571011e-03,
  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,
  4.01986090e-05, 4.43839011e-04,-4.90521747e+00,-7.21794811e-03,
 -9.92797697e-04, 5.11916679e-05]


--- Step 1748 ---
qpos:
[ 1.81706255e-03, 5.49479602e-02,-2.76041505e-02, 2.54169046e-04,
 -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,
  9.48994746e-02,-6.99847612e-02, 1.30612623e-01, 9.79782960e-01,
  2.14584359e-04,-4.23438880e-03,-2.00018439e-01]

qacc:
[-1.24077946e+02, 5.78995694e+01,-2.39726654e+02, 4.38912797e+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,
 -3.35470117e-01,-2.35855986e-01,-4.58525641e-02, 8.68605044e+00,
  1.13325436e+00, 1.91110543e+01]

qfrc_actuator:
[-6.10486814e-04, 2.18826440e-01, 1.51555946e-02, 2.27703309e-03,
 -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([1.38323168, 0.16446389, 1.37341964, 0.16446389, 0.35766541,
       0.12280923, 1.37341964, 0.12280923, 1.36852555, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0010296385378496962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99868766e-01,  3.34484144e-03, -1.58512447e-02,  3.34442119e-03,
        9.99994406e-01,  5.30201968e-05,  1.58513334e-02,  6.77626358e-21,
       -9.99874360e-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([ 0.12642448, -0.04039934,  0.14281221])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99929024, -0.03581278, -0.99929024,  0.99965628,
        0.00768708, -0.03581278,  0.00768708,  0.78543774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015215999108122802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29383274e-01, -3.69102964e-01, -3.11977880e-03, -3.69100884e-01,
        9.29388510e-01, -1.23900779e-03,  3.35680801e-03, -2.16840434e-19,
       -9.99994366e-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([ 0.12629085, -0.03983357,  0.1366478 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005102438803422787
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43966850e-14, -8.15950275e-14,  1.00000000e+00,  4.43849900e-27,
        1.00000000e+00,  8.15950275e-14, -1.00000000e+00,  0.00000000e+00,
        5.43966850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07724583, -0.0786373 ,  0.06198426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17710988e-03, 1.86295620e-01, 7.23126666e-02, 6.54573011e-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,
  1.69829979e-05, 4.10343348e-04,-4.90521958e+00,-7.22622975e-03,
 -9.78719649e-04, 5.34938292e-05]


--- Step 1749 ---
qpos:
[ 1.68737332e-03, 5.55105844e-02,-2.87670471e-02, 1.90333465e-04,
 -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,
  9.48753828e-02,-7.00047413e-02, 1.30628244e-01, 9.79717225e-01,
  3.13954390e-04,-4.43089555e-03,-2.00335788e-01]

qacc:
[ 3.37560888e+01,-4.56644809e+01,-4.33180089e+00, 2.50962157e+02,
  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,
  2.32899749e-01,-2.54586404e-01,-2.97438575e-01, 6.79588576e+00,
  1.02513674e+01, 2.50310067e+01]

qfrc_actuator:
[-4.80272214e-04, 2.23570247e-01, 1.63027635e-02, 2.35692598e-03,
 -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([ 1.38323168, -1.25340012, -0.58507948, -1.25340012,  1.2983998 ,
        0.18173307, -0.58507948,  0.18173307,  0.99390978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001410176416539258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.35793998e-01, -6.77205146e-01,  6.18876178e-04,  4.55365464e-04,
        4.19106213e-04,  9.99999808e-01, -6.77205276e-01,  7.35794139e-01,
        0.00000000e+00])
  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([ 0.12641328, -0.04043096,  0.14280698])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.99960826,  0.02543336,  0.99960826,  1.00013634,
       -0.00804037,  0.02543336, -0.00804037,  1.31594286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015090994135561026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93860514, -0.34497834, -0.00321566, -0.34497632,  0.93861065,
       -0.00118189,  0.00342598,  0.        , -0.99999413])
  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([ 0.12629047, -0.03986871,  0.13699634])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005021776384036974
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10540866e-13, -1.38176083e-13,  1.00000000e+00,  1.52741039e-26,
        1.00000000e+00,  1.38176083e-13, -1.00000000e+00,  0.00000000e+00,
        1.10540866e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07724309, -0.07863893,  0.06198451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07408725e-03, 1.90706096e-01, 7.39428198e-02, 6.08065476e-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,
 -2.05926533e-06, 3.68949453e-04,-4.90522343e+00,-7.23579505e-03,
 -9.65762390e-04, 5.58137928e-05]


--- Step 1750 ---
qpos:
[ 1.56086923e-03, 5.60277065e-02,-2.99325392e-02, 1.37554027e-04,
 -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,
  9.48522025e-02,-7.00257443e-02, 1.30642691e-01, 9.79661003e-01,
  4.30074797e-04,-4.61061374e-03,-2.00606274e-01]

qacc:
[ 2.62814600e+01,-3.01337850e+01,-2.65356405e+01, 2.55533928e+02,
 -2.16339466e+00, 3.91929286e+01,-7.29083813e+01, 5.60604940e+01,
 -4.14899661e-01, 4.19652041e+01,-7.18029502e+01, 3.15482066e+01,
 -4.54175483e-01, 6.58392617e-01,-4.60651775e+00, 1.64044875e+01,
  2.27900199e-01,-2.55711006e-01,-2.93630099e-01, 6.62597220e+00,
  9.93029907e+00, 2.38696270e+01]

qfrc_actuator:
[-3.70472793e-04, 2.27098963e-01, 1.74770464e-02, 2.42372883e-03,
 -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([ 1.38323168, -1.26927285, -0.54979661, -1.26927285,  1.31539014,
        0.15662051, -0.54979661,  0.15662051,  1.02165405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013799088322705988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.49588224e-01, -6.61904390e-01, -2.70183431e-04, -2.02526325e-04,
       -1.78835605e-04,  9.99999964e-01, -6.61904414e-01,  7.49588251e-01,
        0.00000000e+00])
  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([ 0.12640582, -0.04043401,  0.1427993 ])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.99979631,  0.0164585 ,  0.99979631,  1.00004112,
       -0.00664263,  0.0164585 , -0.00664263,  1.4034483 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014899010868969756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43529606e-01, -3.31269925e-01, -3.48133888e-03, -3.31267670e-01,
        9.43536029e-01, -1.22227751e-03,  3.68967244e-03, -2.16840434e-19,
       -9.99993193e-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([ 0.12629248, -0.03989867,  0.1372658 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004951559753869766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60542071e-14, -1.40135518e-13,  1.00000000e+00,  7.85518535e-27,
        1.00000000e+00,  1.40135518e-13, -1.00000000e+00,  0.00000000e+00,
        5.60542071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0772406 , -0.07864044,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97888348e-03, 1.97362018e-01, 7.53802152e-02, 5.59336569e-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,
 -2.14223942e-05, 2.96479472e-04,-4.90519867e+00,-7.24785840e-03,
 -9.55983439e-04, 5.86729236e-05]


--- Step 1751 ---
qpos:
[ 1.43693201e-03, 5.65135001e-02,-3.10991518e-02, 9.54504209e-05,
 -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,
  9.48299608e-02,-7.00477179e-02, 1.30655973e-01, 9.79613955e-01,
  5.62107939e-04,-4.77378626e-03,-2.00831755e-01]

qacc:
[ 2.11188094e+01,-1.63101956e+01,-4.70327669e+01, 2.56666667e+02,
  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,
  2.34646534e-01,-2.42674005e-01,-2.91106056e-01, 6.23673671e+00,
  9.73150495e+00, 2.29248219e+01]

qfrc_actuator:
[-2.55902590e-04, 2.30900671e-01, 1.86138651e-02, 2.46053599e-03,
 -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([ 1.38323168, -1.2852669 , -0.51129137, -1.2852669 ,  1.33124167,
        0.13069071, -0.51129137,  0.13069071,  1.0547058 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013467315814056084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61259859e-01, -6.48445993e-01, -1.10503924e-03, -8.41222528e-04,
       -7.16558703e-04,  9.99999389e-01, -6.48446389e-01,  7.61260324e-01,
        0.00000000e+00])
  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([ 0.1264013 , -0.04043847,  0.14278853])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.99973453,  0.01985986,  0.99973453,  1.00014603,
       -0.01078576,  0.01985986, -0.01078576,  1.54288096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014652327250785835
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44327340e-01, -3.28984015e-01, -3.92329670e-03, -3.28981176e-01,
        9.44335490e-01, -1.36678322e-03,  4.15455815e-03,  2.16840434e-19,
       -9.99991370e-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([ 0.12629596, -0.03992446,  0.13747279])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004891709809509842
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.67400289e-14, -8.51100434e-14,  1.00000000e+00,  4.82914633e-27,
        1.00000000e+00,  8.51100434e-14, -1.00000000e+00,  0.00000000e+00,
        5.67400289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07723836, -0.07864183,  0.06198492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93372323e-03, 2.03434208e-01, 7.66546155e-02, 5.07895134e-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,
 -3.37654040e-05, 2.35109883e-04,-4.90517973e+00,-7.26014271e-03,
 -9.47927782e-04, 6.13977313e-05]


--- Step 1752 ---
qpos:
[ 1.31524401e-03, 5.69803698e-02,-3.22672163e-02, 6.31402251e-05,
 -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,
  9.48087195e-02,-7.00705712e-02, 1.30668091e-01, 9.79575810e-01,
  7.08963127e-04,-4.92039789e-03,-2.01013731e-01]

qacc:
[ 1.83554250e+01,-8.21794526e-01,-7.47514804e+01, 2.60537623e+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,
  2.50118059e-01,-2.19919512e-01,-2.91136273e-01, 5.69830469e+00,
  9.63348183e+00, 2.21629494e+01]

qfrc_actuator:
[-1.21373074e-04, 2.35420533e-01, 1.97455209e-02, 2.49305624e-03,
 -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([ 1.38323168, -1.3013943 , -0.4687246 , -1.3013943 ,  1.3444487 ,
        0.10767932, -0.4687246 ,  0.10767932,  1.08426453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001311546183945399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77133122, -0.63643111, -0.00189683, -0.00146309, -0.0012072 ,
        0.9999982 , -0.63643225,  0.77133261,  0.        ])
  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([ 0.12639873, -0.04044397,  0.1427755 ])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.99965214,  0.0236463 ,  0.99965214,  1.00030593,
       -0.01581768,  0.0236463 , -0.01581768,  1.66862766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00143656198621478
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45231615e-01, -3.26371293e-01, -4.35578124e-03, -3.26367828e-01,
        9.45241651e-01, -1.50395611e-03,  4.60811395e-03, -2.16840434e-19,
       -9.99989383e-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([ 0.12630021, -0.03994687,  0.13763039])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048420015844148623
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.59837873e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.59837873e-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([ 0.07723636, -0.07864308,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93954787e-03, 2.09517004e-01, 7.78504621e-02, 4.57931536e-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,
 -3.96073382e-05, 1.83068935e-04,-4.90516538e+00,-7.27267478e-03,
 -9.41584568e-04, 6.40061711e-05]


--- Step 1753 ---
qpos:
[ 1.19523752e-03, 5.74379946e-02,-3.34364509e-02, 3.99673051e-05,
 -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,
  9.47885446e-02,-7.00942465e-02, 1.30679069e-01, 9.79546313e-01,
  8.69815370e-04,-5.05033743e-03,-2.01153569e-01]

qacc:
[ 1.36430164e+01, 9.82505878e+00,-9.13789975e+01, 2.58244241e+02,
  1.58159743e+00, 2.08154187e+01,-3.46098613e+01, 2.49784598e+01,
  1.76470326e+00, 4.20370749e+01,-8.94793342e+01, 6.97203823e+01,
 -1.25036453e+00, 1.52468887e+00, 2.92638837e+01,-9.96748085e+01,
  2.66578804e-01,-2.05487371e-01,-2.84995329e-01, 5.28053326e+00,
  9.60879893e+00, 2.14679523e+01]

qfrc_actuator:
[-2.88349591e-05, 2.39892094e-01, 2.08926114e-02, 2.51961642e-03,
 -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([ 1.38323168, -1.30955903, -0.44540433, -1.30955903,  1.35358202,
        0.08717466, -0.44540433,  0.08717466,  1.12692441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012752167770344856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80193467e-01, -6.25532663e-01, -2.65354167e-03, -2.07028317e-03,
       -1.65988283e-03,  9.99996479e-01, -6.25534865e-01,  7.80196214e-01,
       -2.16840434e-19])
  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([ 0.12639727, -0.04045019,  0.14276094])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.99900671,  0.04300143,  0.99900671,  1.00165067,
       -0.0399335 ,  0.04300143, -0.0399335 ,  1.92766456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014052280906135496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94621069, -0.32351586, -0.0047766 , -0.32351174,  0.94622275,
       -0.00163313,  0.00504807,  0.        , -0.99998726])
  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([ 0.12630463, -0.03996649,  0.13774916])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004802169679539864
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15595980e-13,  2.88989951e-14,  1.00000000e+00, -3.34060767e-27,
        1.00000000e+00, -2.88989951e-14, -1.00000000e+00,  0.00000000e+00,
        1.15595980e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07723459, -0.07864421,  0.0619852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91933426e-03, 2.14931957e-01, 7.90785360e-02, 4.11786487e-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,
 -3.95506024e-05, 1.39130126e-04,-4.90515465e+00,-7.28544170e-03,
 -9.36913879e-04, 6.65019257e-05]


--- Step 1754 ---
qpos:
[ 1.07623108e-03, 5.78935890e-02,-3.46058022e-02, 2.55690711e-05,
 -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,
  9.47694919e-02,-7.01186992e-02, 1.30688955e-01, 9.79525327e-01,
  1.04409251e-03,-5.16344409e-03,-2.01252037e-01]

qacc:
[ 8.07801443e+00, 1.56702493e+01,-9.68435069e+01, 2.50435205e+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,
  2.80551262e-01,-1.94359446e-01,-2.72990093e-01, 4.98291978e+00,
  9.63401487e+00, 2.10763094e+01]

qfrc_actuator:
[ 5.59289734e-05, 2.44155038e-01, 2.20847669e-02, 2.53933933e-03,
 -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([ 1.38323168, -1.31163243, -0.43926101, -1.31163243,  1.36062976,
        0.06748927, -0.43926101,  0.06748927,  1.18170885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001238462764462647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.88152615e-01, -6.15470566e-01, -3.38186297e-03, -2.66543938e-03,
       -2.08144902e-03,  9.99994281e-01, -6.15474086e-01,  7.88157122e-01,
       -2.16840434e-19])
  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([ 0.12639627, -0.04045689,  0.14274542])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.99681798,  0.07885084,  0.99681798,  1.00894307,
       -0.11391925,  0.07885084, -0.11391925,  2.4400781 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013723105420622086
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94723885, -0.32048665, -0.00518376, -0.32048185,  0.94725303,
       -0.00175383,  0.00547241,  0.        , -0.99998503])
  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([ 0.12630875, -0.03998383,  0.13783781])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047717358070456517
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.81666227e-14, -8.72499340e-14,  1.00000000e+00,  5.07503399e-27,
        1.00000000e+00,  8.72499340e-14, -1.00000000e+00,  0.00000000e+00,
        5.81666227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07723305, -0.07864522,  0.06198529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91976918e-03, 2.19654676e-01, 8.03376926e-02, 3.68238723e-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,
 -3.43734353e-05, 1.02775629e-04,-4.90514733e+00,-7.29842511e-03,
 -9.33817431e-04, 6.88687216e-05]


--- Step 1755 ---
qpos:
[ 9.57766453e-04, 5.83533953e-02,-3.57751676e-02, 1.93619166e-05,
 -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,
  9.47516269e-02,-7.01438672e-02, 1.30697791e-01, 9.79512749e-01,
  1.23112602e-03,-5.25947794e-03,-2.01309704e-01]

qacc:
[ 4.29688551e+00, 2.24259036e+01,-1.06494236e+02, 2.45234167e+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,
  2.96924156e-01,-1.78819694e-01,-2.62364610e-01, 4.63057179e+00,
  9.68825023e+00, 2.07871278e+01]

qfrc_actuator:
[ 1.36037238e-04, 2.48662101e-01, 2.32501180e-02, 2.55166755e-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([ 1.38323168, -1.31466995, -0.43008464, -1.31466995,  1.3671176 ,
        0.04925704, -0.43008464,  0.04925704,  1.23266423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012018607345689579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95420045e-01, -6.06044763e-01, -4.08617344e-03, -3.25025140e-03,
       -2.47642469e-03,  9.99991652e-01, -6.06049823e-01,  7.95426686e-01,
       -4.33680869e-19])
  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([ 0.12639522, -0.04046387,  0.14272941])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.9933598 ,  0.11445456,  0.9933598 ,  1.02926981,
       -0.25462708,  0.11445456, -0.25462708,  3.20985945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013386435356760532
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94829458, -0.31734258, -0.00557548, -0.31733709,  0.94831097,
       -0.00186578,  0.00587938,  0.        , -0.99998272])
  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([ 0.1263122 , -0.03999928,  0.13790278])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047500316087958905
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16864804e-13,  2.92162010e-14,  1.00000000e+00, -3.41434560e-27,
        1.00000000e+00, -2.92162010e-14, -1.00000000e+00,  0.00000000e+00,
        1.16864804e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07723171, -0.07864611,  0.06198536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.94963162e-03, 2.24260855e-01, 8.15173765e-02, 3.25763002e-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,
 -2.44425028e-05, 7.33233521e-05,-4.90514340e+00,-7.31162009e-03,
 -9.32270648e-04, 7.10930023e-05]


--- Step 1756 ---
qpos:
[ 8.39823603e-04, 5.88242245e-02,-3.69470178e-02, 2.00163758e-05,
 -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,
  9.47350302e-02,-7.01696550e-02, 1.30705591e-01, 9.79508430e-01,
  1.42993072e-03,-5.33816765e-03,-2.01327331e-01]

qacc:
[ 3.95787150e+00, 3.55631871e+01,-1.34684365e+02, 2.49393234e+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,
  3.17066614e-01,-1.54954709e-01,-2.59196167e-01, 4.11945266e+00,
  9.72560155e+00, 2.03994458e+01]

qfrc_actuator:
[ 2.31162968e-04, 2.54428620e-01, 2.44170833e-02, 2.55663270e-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([ 1.38323168, -1.3240495 , -0.40027839, -1.3240495 ,  1.37244633,
        0.035676  , -0.40027839,  0.035676  ,  1.26522184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011659308135883852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80215194, -0.59710093, -0.00476909, -0.00382558, -0.00284766,
        0.99998863, -0.59710772,  0.80216106,  0.        ])
  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([ 0.12639368, -0.04047097,  0.14271327])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.99105091,  0.13297232,  0.99105091,  1.05506823,
       -0.41093546,  0.13297232, -0.41093546,  4.06265912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00130492371775809
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49364154e-01, -3.14121474e-01, -5.94994660e-03, -3.14115305e-01,
        9.49382799e-01, -1.96865374e-03,  6.26717337e-03,  4.33680869e-19,
       -9.99980361e-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([ 0.12631467, -0.04001311,  0.13794923])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004736395637405383
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17201255e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.17201255e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07723056, -0.0786469 ,  0.0619854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.01741461e-03, 2.29814210e-01, 8.26934892e-02, 2.85466290e-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,
 -1.00111578e-05, 5.04614563e-05,-4.90514256e+00,-7.32499515e-03,
 -9.32255340e-04, 7.31687240e-05]


--- Step 1757 ---
qpos:
[ 7.22199479e-04, 5.93112047e-02,-3.81226584e-02, 2.66426439e-05,
 -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,
  9.47197466e-02,-7.01960120e-02, 1.30712399e-01, 9.79512274e-01,
  1.63996831e-03,-5.39938609e-03,-2.01305397e-01]

qacc:
[ 2.20687315e+00, 4.41361607e+01,-1.51672477e+02, 2.49319572e+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,
  3.28303618e-01,-1.42305126e-01,-2.47739746e-01, 3.84239336e+00,
  9.73743732e+00, 2.01542458e+01]

qfrc_actuator:
[ 3.17349845e-04, 2.60054687e-01, 2.55697409e-02, 2.55523304e-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([ 1.38323168, -1.32827614, -0.3860212 , -1.32827614,  1.3768358 ,
        0.02200783, -0.3860212 ,  0.02200783,  1.30750404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011312135394233535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8084885 , -0.5884869 , -0.00543256, -0.00439223, -0.00319704,
        0.99998524, -0.58849558,  0.80850043,  0.        ])
  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([ 0.1263913 , -0.04047802,  0.14269737])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.98708654,  0.15976139,  0.98708654,  1.14505954,
       -0.89667263,  0.15976139, -0.89667263,  6.54002796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001271808613736096
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50443809e-01, -3.10832448e-01, -6.30514537e-03, -3.10825609e-01,
        9.50464723e-01, -2.06198476e-03,  6.63375002e-03,  4.33680869e-19,
       -9.99977996e-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([ 0.12631589, -0.04002558,  0.13798203])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004730379471396262
  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([ 0.07722958, -0.07864759,  0.06198542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07723052e-03, 2.34886195e-01, 8.39787135e-02, 2.51177066e-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,
  8.45385075e-06, 3.41038961e-05,-4.90514432e+00,-7.33849083e-03,
 -9.33709859e-04, 7.50855836e-05]


--- Step 1758 ---
qpos:
[ 6.04838425e-04, 5.98161043e-02,-3.93012013e-02, 3.92192427e-05,
 -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,
  9.47057067e-02,-7.02229470e-02, 1.30718342e-01, 9.79524307e-01,
  1.86146520e-03,-5.44363442e-03,-2.01243719e-01]

qacc:
[ 1.75686787e+00, 4.39435875e+01,-1.47505332e+02, 2.42063042e+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,
  3.10899028e-01,-1.44496244e-01,-2.16459075e-01, 4.00475485e+00,
  9.51932814e+00, 2.02442232e+01]

qfrc_actuator:
[ 4.33673017e-04, 2.64362012e-01, 2.66806079e-02, 2.53040702e-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([ 1.38323168, -1.33034   , -0.37884742, -1.33034   ,  1.38020687,
        0.01062175, -0.37884742,  0.01062175,  1.34593291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010981047430627586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.14529890e-01, -5.80089748e-01, -6.07805566e-03, -4.95084945e-03,
       -3.52588291e-03,  9.99981528e-01, -5.80100464e-01,  8.14544935e-01,
        4.33680869e-19])
  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([ 0.12638774, -0.0404849 ,  0.14268199])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.4585999 , -0.88856607,  0.4585999 ,  7.92627594,
        3.57477159, -0.88856607,  3.57477159,  2.84491544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001239789521276356
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95152778, -0.30749114, -0.00663974, -0.30748365,  0.95155094,
       -0.00214561,  0.0069778 ,  0.        , -0.99997565])
  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([ 0.12631561, -0.0400369 ,  0.13800493])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047313547251096044
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.86630621e-14, -1.17326124e-13,  1.00000000e+00,  6.88270971e-27,
        1.00000000e+00,  1.17326124e-13, -1.00000000e+00,  0.00000000e+00,
        5.86630621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07722876, -0.07864818,  0.06198542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17729084e-03, 2.38382479e-01, 8.52872736e-02, 2.18990209e-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,
  3.07640752e-05, 2.41699371e-05,-4.90514918e+00,-7.35208304e-03,
 -9.36601401e-04, 7.68230485e-05]


--- Step 1759 ---
qpos:
[ 4.88145878e-04, 6.03391699e-02,-4.04815828e-02, 5.79047446e-05,
 -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,
  9.46927661e-02,-7.02504725e-02, 1.30723570e-01, 9.79544656e-01,
  2.09491005e-03,-5.47185096e-03,-2.01141586e-01]

qacc:
[ 5.04128594e+00, 4.16167984e+01,-1.39415964e+02, 2.34845902e+02,
  1.60885190e+00, 2.43989317e+01,-4.78165373e+01, 2.40793647e+01,
  2.08676740e+00, 2.42749849e+01,-5.02179521e+01, 4.23666551e+01,
 -3.62650829e-01, 6.01368073e-01, 3.94497224e+00,-1.27899680e+01,
  2.74830399e-01,-1.47602350e-01,-1.78642149e-01, 4.34087807e+00,
  9.11427672e+00, 2.06028812e+01]

qfrc_actuator:
[ 6.21264028e-04, 2.68242670e-01, 2.78380394e-02, 2.50691057e-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([ 1.38323168, -1.33555927, -0.3600157 , -1.33555927,  1.38203036,
        0.00445657, -0.3600157 ,  0.00445657,  1.36669902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001066666461121039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82027035, -0.5719367 , -0.00670484, -0.0054999 , -0.00383483,
        0.99997752, -0.57194956,  0.82028879,  0.        ])
  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([ 0.12638285, -0.04049159,  0.14266719])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0012089871341774768
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95260536, -0.30412935, -0.00695415, -0.30412125,  0.95263075,
       -0.00222013,  0.00729994,  0.        , -0.99997336])
  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([ 0.1263137 , -0.04004712,  0.13801869])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004738275869185654
  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([ 0.07722807, -0.07864871,  0.0619854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.35134851e-03, 2.41363052e-01, 8.65978108e-02, 1.87039055e-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,
  5.74205869e-05, 2.05308068e-05,-4.90515823e+00,-7.36580274e-03,
 -9.40961009e-04, 7.83537617e-05]


--- Step 1760 ---
qpos:
[ 3.83384321e-04, 6.08834453e-02,-4.16609894e-02, 8.36386181e-05,
 -4.50853985e-03, 1.40204082e-01,-1.96841273e-02, 4.75397519e-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,
  9.46782537e-02,-7.02764788e-02, 1.30728444e-01, 9.79581291e-01,
  2.33837816e-03,-5.49918717e-03,-2.00959659e-01]

qacc:
[ 9.55482382e+01, 3.95406483e+01,-1.30442775e+02, 2.35718231e+02,
  8.88453827e+00, 5.52918571e+01,-5.93103239e+02, 3.32839077e+02,
 -3.40450541e-01, 3.32727733e+01,-7.97042998e+01, 7.75781455e+01,
 -2.32985479e-01, 3.89772814e-01, 1.00596540e+01,-3.42546458e+01,
 -3.92951267e-01, 3.79776096e-01,-8.87229247e-02, 5.02183592e+00,
  1.56734898e+00, 4.06907877e+01]

qfrc_actuator:
[ 7.44589285e-04, 2.72534512e-01, 2.90412592e-02, 2.49942579e-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([ 1.38323168, -1.33660749, -0.35610434, -1.33660749,  1.38160285,
        0.00611366, -0.35610434,  0.00611366,  1.36028458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010367712012565135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.25620807e-01, -5.64178031e-01, -7.30980415e-03, -6.03528765e-03,
       -4.12414110e-03,  9.99973283e-01, -5.64193104e-01,  8.25642865e-01,
        4.33680869e-19])
  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([ 0.12637652, -0.04049812,  0.14265292])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0011792914195100322
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53666374e-01, -3.00778801e-01, -7.24987655e-03, -3.00770110e-01,
        9.53693930e-01, -2.28648742e-03,  7.60189021e-03,  4.33680869e-19,
       -9.99971105e-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([ 0.12631002, -0.04005612,  0.13802173])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.54816396, -0.45894814, -0.29975046, -0.45894814,  0.93747551,
       -0.59607518, -0.29975046, -0.59607518,  1.46081509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035216911577772724
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26639849e-01,  3.75814108e-01, -1.01166219e-02,  3.75791713e-01,
        9.26695072e-01,  4.10271874e-03,  1.09168833e-02, -4.33680869e-19,
       -9.99940409e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11653568, -0.06649646,  0.12664562])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047500311155120045
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.84324080e-14,  1.16864816e-13,  1.00000000e+00,  6.82869261e-27,
        1.00000000e+00, -1.16864816e-13, -1.00000000e+00,  0.00000000e+00,
       -5.84324080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07722748, -0.07864917,  0.06198537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44081205e-03, 2.44741839e-01, 8.79007387e-02, 1.55891206e-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,
  8.90638261e-05, 2.29429717e-05,-4.90517174e+00,-7.37970442e-03,
 -9.46831285e-04, 7.96721167e-05]


--- Step 1761 ---
qpos:
[ 2.94727094e-04, 6.14478015e-02,-4.28422078e-02, 1.14972810e-04,
 -4.50484645e-03, 1.43467720e-01,-2.00588660e-02, 4.67135565e-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,
  9.46621192e-02,-7.03003980e-02, 1.30732793e-01, 9.79634577e-01,
  2.58831746e-03,-5.52643939e-03,-2.00695925e-01]

qacc:
[ 1.28951606e+02, 4.27686183e+01,-1.38131218e+02, 2.23774717e+02,
  8.84263759e+00,-7.65730418e+01,-2.56145787e+02, 1.74227905e+02,
 -3.18823626e+00, 2.36723471e+01,-4.97030301e+01, 3.74810216e+01,
  3.50858660e-01,-3.80340899e-01,-3.79316779e+00, 1.23612038e+01,
 -4.05530640e-01, 5.21783103e-01,-1.31074912e-01, 3.36655432e+00,
  8.32789543e-01, 4.17227918e+01]

qfrc_actuator:
[ 8.71083100e-04, 2.76849724e-01, 3.02521215e-02, 2.49816498e-03,
 -3.71804538e-05, 2.01926118e-01, 1.52649549e-03, 1.56514584e-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([ 1.38323168, -1.33989139, -0.34354175, -1.33989139,  1.38590244,
       -0.0104166 , -0.34354175, -0.0104166 ,  1.42385879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010069707786968956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.26890928e-01, -5.62308814e-01, -7.75829872e-03, -6.41545991e-03,
       -4.36269105e-03,  9.99969904e-01, -5.62325738e-01,  8.26915815e-01,
       -4.33680869e-19])
  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([ 0.12636719, -0.04050554,  0.14263729])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99794147,  0.06305832, -0.99794147,  1.00863511,
        0.13773642,  0.06305832,  0.13773642,  3.1797057 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011477065588852407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95461208, -0.29775623, -0.00754999, -0.29774691,  0.95464194,
       -0.00235487,  0.00790871,  0.        , -0.99996873])
  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([ 0.12630191, -0.04005756,  0.13793386])
  solimp: array([9.0e-01, 9.5e-01, 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([0.82834198, 0.62475933, 0.54389909, 0.62475933, 0.63313171,
       0.22423174, 0.54389909, 0.22423174, 0.57077423, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000687931335744617
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92677869,  0.37547248, -0.01008311,  0.37545026,  0.92683354,
        0.0040848 ,  0.0108791 ,  0.        , -0.99994082])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11626846, -0.0666317 ,  0.12679246])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20568888, -0.18218193, -0.09548643, -0.18218193,  0.20690496,
       -0.0023202 , -0.09548643, -0.0023202 ,  0.21011567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.591824339712254e-05
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18754919e-01,  3.94826086e-01,  1.32676335e-03,  3.94825674e-01,
        9.18755877e-01, -5.70163188e-04, -1.44408693e-03, -1.08420217e-19,
       -9.99998957e-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([ 0.1132209 , -0.07534713,  0.11255155])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004767243694545342
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.82214323e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.82214323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.077227  , -0.07864956,  0.06198532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97024492e-03, 2.47990971e-01, 8.90703577e-02, 1.20661651e-03,
 -1.33113886e-04, 1.63050856e-02, 1.06512284e-02, 2.29640908e-03,
 -3.43464332e-05, 2.35798273e-03, 5.75188966e-04, 1.28148111e-04,
  1.99747338e-05,-6.13200706e-07,-2.05661981e-05, 5.34590543e-05,
  1.57232256e-04, 2.40022245e-05,-4.90518540e+00,-7.39403086e-03,
 -9.57796234e-04, 8.01017981e-05]


--- Step 1762 ---
qpos:
[ 2.25298031e-04, 6.20312819e-02,-4.40244328e-02, 1.51823009e-04,
 -4.49934770e-03, 1.46402615e-01,-2.05806292e-02, 4.55890035e-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,
  9.46441937e-02,-7.03220399e-02, 1.30736649e-01, 9.79704182e-01,
  2.84330847e-03,-5.55532429e-03,-2.00351614e-01]

qacc:
[ 1.53988312e+02, 3.90368805e+01,-1.26384825e+02, 2.10069893e+02,
  8.87557307e+00,-8.50562287e+01,-2.01199773e+02, 1.61763803e+02,
 -4.74056723e+00, 9.30997693e+00,-8.27445343e+00,-9.58213451e+00,
 -2.89970026e-01, 5.42305793e-01,-1.50388273e-01, 5.15221240e-01,
 -4.47722835e-01, 5.69308241e-01,-1.23100460e-01, 2.83979070e+00,
 -1.43415826e-01, 4.10942682e+01]

qfrc_actuator:
[ 1.00828495e-03, 2.80532507e-01, 3.15232238e-02, 2.49926726e-03,
 -1.39869970e-04, 2.01949676e-01, 1.83244996e-03, 1.74469820e-04,
 -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([ 1.38173885, -1.33598555, -0.35262564, -1.33598555,  1.38896412,
       -0.02737424, -0.35262564, -0.02737424,  1.48545107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009773469245068227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23293296e-01, -5.67559546e-01, -8.01934488e-03, -6.60248519e-03,
       -4.55160210e-03,  9.99967845e-01, -5.67577797e-01,  8.23319770e-01,
       -4.33680869e-19])
  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([ 0.12635497, -0.04051386,  0.14262012])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99247845,  0.12186086, -0.99247845,  1.07978578,
        0.65035963,  0.12186086,  0.65035963,  6.29669345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011139701982672999
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95546702, -0.29499341, -0.00785292, -0.29498345,  0.95549929,
       -0.00242445,  0.00821865,  0.        , -0.99996623])
  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([ 0.12628943, -0.04005045,  0.13774374])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.99873826,  0.24790919,  0.96748083,  0.24790919,  5.93567666,
       -1.26505078,  0.96748083, -1.26505078,  1.32289736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009761756939870663
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26980035e-01,  3.74976072e-01, -1.00478670e-02,  3.74954046e-01,
        9.27034490e-01,  4.06426054e-03,  1.08387197e-02, -4.33680869e-19,
       -9.99941259e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11603362, -0.06674769,  0.12691912])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.25099957, -0.22834237, -0.10421395, -0.22834237,  0.26286308,
       -0.02599404, -0.10421395, -0.02599404,  0.30795491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004144015924183968
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92022894,  0.39133224,  0.00614628,  0.39132351,  0.92024947,
       -0.00261368, -0.00667893,  0.        , -0.9999777 ])
  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([ 0.11296044, -0.0754426 ,  0.11265709])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004791016768162931
  efc_address: 12
  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([ 0.07722665, -0.07864987,  0.06198525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.30164729e-03, 2.50663353e-01, 9.04393013e-02, 9.29030463e-04,
 -3.24712546e-04, 3.38673258e-02, 1.91910644e-02, 4.05868688e-03,
 -5.51714848e-05, 1.65194323e-03, 5.22651732e-04, 7.54946175e-05,
  8.35296737e-06, 3.27328173e-05,-3.94254738e-06, 1.54309190e-06,
  2.31523574e-04, 3.32908285e-05,-4.90519411e+00,-7.40862419e-03,
 -9.69367535e-04, 8.04333410e-05]


--- Step 1763 ---
qpos:
[ 1.83734180e-04, 6.26210264e-02,-4.52187373e-02, 1.89255341e-04,
 -4.48592711e-03, 1.49050024e-01,-2.12318216e-02, 4.41947140e-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,
  9.46250001e-02,-7.03392267e-02, 1.30739801e-01, 9.79791431e-01,
  3.08997730e-03,-5.57697573e-03,-1.99920237e-01]

qacc:
[ 2.23043909e+02, 4.26466609e+01,-1.43354213e+02, 1.69110210e+02,
  3.64654282e+01,-7.38654171e+01,-1.74165804e+02, 1.25882522e+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,
 -3.17037982e-01, 1.11378032e+00,-1.76251189e-01,-4.58449831e+00,
  2.88243499e+00, 4.44298296e+01]

qfrc_actuator:
[ 1.08908815e-03, 2.84663132e-01, 3.28481424e-02, 2.51738421e-03,
 -2.40271653e-04, 2.02797866e-01, 2.31294267e-03, 2.30373901e-04,
 -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([ 1.37540216, -1.3331181 , -0.33841874, -1.3331181 ,  1.40246405,
       -0.1066037 , -0.33841874, -0.1066037 ,  1.79534145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009480078734644128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81412811, -0.58062911, -0.00807764, -0.00657645, -0.00469026,
        0.99996738, -0.58064806,  0.81415467,  0.        ])
  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([ 0.12633985, -0.04052308,  0.14260136])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99860034,  0.05158392, -0.99860034,  1.00570626,
        0.11178706,  0.05158392,  0.11178706,  3.16398987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010779231345257995
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56227883e-01, -2.92509221e-01, -8.16038243e-03, -2.92498570e-01,
        9.56262702e-01, -2.49616251e-03,  8.53361990e-03, -4.33680869e-19,
       -9.99963588e-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([ 0.12627266, -0.0400344 ,  0.13744689])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.24486365,  0.96948715,  0.24486365,  4.72036616,
       -0.93967121,  0.96948715, -0.93967121,  1.2372648 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012201814124728789
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92724264,  0.37432712, -0.0100149 ,  0.37430529,  0.92729672,
        0.00404277,  0.0108001 ,  0.        , -0.99994168])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11582835, -0.06684582,  0.12702706])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.35905923, -0.3491556 , -0.08374903, -0.3491556 ,  0.38057336,
       -0.08969393, -0.08374903, -0.08969393,  0.73299956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006937272756028086
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20256561e-01,  3.91079396e-01,  1.35929624e-02,  3.91036740e-01,
        9.20356945e-01, -5.77594113e-03, -1.47692290e-02, -8.67361738e-19,
       -9.99890929e-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([ 0.11274893, -0.07549101,  0.11278667])
  solimp: array([9.0e-01, 9.5e-01, 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([  5.47045693,   3.61844128,   4.10277732,   3.61844128,
        29.65843478, -21.33256834,   4.10277732, -21.33256834,
        24.28469905,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004825297752296143
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24960629e-07, -5.24960803e-07,  1.00000000e+00, -2.75583753e-13,
        1.00000000e+00,  5.24960803e-07, -1.00000000e+00,  0.00000000e+00,
       -5.24960629e-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([ 0.07596763, -0.08149526,  0.06198514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42039072e-03, 2.53830658e-01, 9.18215612e-02, 6.72618333e-04,
 -5.15471531e-04, 5.10534829e-02, 2.69941474e-02, 5.60100173e-03,
 -1.40100082e-05, 1.44440986e-03, 4.43387418e-04, 1.65173696e-04,
  7.59248386e-06, 2.90218003e-05,-3.75636985e-06,-8.93311418e-05,
  3.08911339e-04, 4.98398737e-05,-4.90520064e+00,-7.42355812e-03,
 -9.81035081e-04, 8.06663503e-05]


--- Step 1764 ---
qpos:
[ 1.72164095e-04, 6.32175367e-02,-4.64253410e-02, 2.26485241e-04,
 -4.46391879e-03, 1.51437679e-01,-2.19985672e-02, 4.25629053e-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,
  9.46046844e-02,-7.03521870e-02, 1.30742235e-01, 9.79894298e-01,
  3.32734695e-03,-5.59249276e-03,-1.99411178e-01]

qacc:
[ 2.39946884e+02, 4.22676497e+01,-1.37791195e+02, 1.50020049e+02,
  3.88400904e+01,-6.93600014e+01,-1.50656894e+02, 1.15551681e+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,
 -2.80544956e-01, 1.05664255e+00,-1.79396040e-01,-4.97634225e+00,
  2.23924045e+00, 3.96332690e+01]

qfrc_actuator:
[ 1.10197122e-03, 2.88943403e-01, 3.41103103e-02, 2.54843742e-03,
 -3.28386633e-04, 2.03538725e-01, 2.88611484e-03, 3.18119499e-04,
 -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([ 1.36489124, -1.32101568, -0.3432866 , -1.32101568,  1.40756758,
       -0.16422461, -0.3432866 , -0.16422461,  1.9968509 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009201349536643688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79661006, -0.60444299, -0.00781558, -0.00622616, -0.00472421,
        0.99996946, -0.60446146,  0.79663439,  0.        ])
  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([ 0.1263231 , -0.04053328,  0.14258033])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.99802596, -0.06170681, -0.99802596,  1.00622815,
       -0.10183559, -0.06170681, -0.10183559,  2.64698755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010385683074248706
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95707255, -0.28972537, -0.0084462 , -0.28971409,  0.95710982,
       -0.00255674,  0.00882469,  0.        , -0.99996106])
  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([ 0.12625262, -0.04000616,  0.13700558])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.24999612,  0.96817637,  0.24999612,  3.73929995,
       -0.70734161,  0.96817637, -0.70734161,  1.18257686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014244158041501148
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92757132,  0.37351307, -0.00997178,  0.37349149,  0.92762491,
        0.00401519,  0.0107498 ,  0.        , -0.99994222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11564865, -0.0669278 ,  0.12711836])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.42617576, -0.4259879 ,  0.01265268, -0.4259879 ,  0.42696921,
        0.02671357,  0.01265268,  0.02671357,  1.32556268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009292171787437009
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20344222e-01,  3.90598197e-01,  1.99890430e-02,  3.90506104e-01,
        9.20561268e-01, -8.48143890e-03, -2.17139735e-02,  8.67361738e-19,
       -9.99764224e-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([ 0.11256423, -0.07553463,  0.11289752])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004874253935257672
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.27772914e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.27772914e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07591931, -0.08160951,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03933368e-03, 2.57790397e-01, 9.36947413e-02, 6.75840825e-04,
 -1.00005639e-03, 6.60814320e-02, 3.40152302e-02, 7.03310147e-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,
  3.78753633e-04, 8.85777511e-05,-4.90518704e+00,-7.43721976e-03,
 -9.91161516e-04, 8.11215817e-05]


--- Step 1765 ---
qpos:
[ 1.91658834e-04, 6.38227666e-02,-4.76462320e-02, 2.61992821e-04,
 -4.43311067e-03, 1.53588827e-01,-2.28676762e-02, 4.07256159e-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,
  9.45836330e-02,-7.03612034e-02, 1.30743849e-01, 9.80010006e-01,
  3.55349863e-03,-5.60220138e-03,-1.98837561e-01]

qacc:
[ 2.48281014e+02, 4.72296170e+01,-1.45369118e+02, 1.33096098e+02,
  3.92390592e+01,-6.88971097e+01,-1.21254529e+02, 1.03405254e+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,
 -1.83896646e-01, 9.85957242e-01,-2.04943646e-01,-5.91618342e+00,
  1.87063402e+00, 3.29323051e+01]

qfrc_actuator:
[ 9.72064412e-04, 2.94073817e-01, 3.52511164e-02, 2.48128833e-03,
 -6.43748438e-04, 2.04249188e-01, 3.58829561e-03, 4.68042985e-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([ 1.35173885, -1.3131617 , -0.32063105, -1.3131617 ,  1.40691707,
       -0.22598536, -0.32063105, -0.22598536,  2.27727404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008948635230878603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76991251, -0.63810839, -0.00723931, -0.00557378, -0.00461959,
        0.9999738 , -0.63812511,  0.76993268,  0.        ])
  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([ 0.12630483, -0.04054425,  0.14255736])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.99990262, -0.99825918, -0.057305  , -0.99825918,  1.0065235 ,
       -0.11533648, -0.057305  , -0.11533648,  3.00907644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000996278742609816
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57998767e-01, -2.86639987e-01, -8.71087086e-03, -2.86628139e-01,
        9.58038370e-01, -2.60624626e-03,  9.09240291e-03, -4.33680869e-19,
       -9.99958663e-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([ 0.12622974, -0.03996655,  0.13643046])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.23090402,  0.97290641,  0.23090402,  3.97278399,
       -0.70555967,  0.97290641, -0.70555967,  1.16738525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001592832271152259
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27958460e-01,  3.72551565e-01, -9.92105277e-03,  3.72530275e-01,
        9.28011493e-01,  3.98282108e-03,  1.06906572e-02, -4.33680869e-19,
       -9.99942853e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11549192, -0.06699522,  0.12719464])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.42741173,  0.05290322, -0.42741173,  0.45490527,
        0.19577268,  0.05290322,  0.19577268,  2.01234517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011252505086132923
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20501229e-01,  3.89913021e-01,  2.54032141e-02,  3.89764626e-01,
        9.20851691e-01, -1.07563944e-02, -2.75866509e-02,  1.73472348e-18,
       -9.99619416e-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([ 0.11240361, -0.07557389,  0.11299135])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004925321388531689
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.63528213e-14, -2.25411285e-13,  1.00000000e+00,  1.27025619e-26,
        1.00000000e+00,  2.25411285e-13, -1.00000000e+00,  0.00000000e+00,
        5.63528213e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07592097, -0.08160982,  0.06198484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40904679e-03, 2.62575007e-01, 9.54575853e-02, 6.20096773e-04,
 -1.74511995e-03, 7.97030142e-02, 4.04760583e-02, 8.36721941e-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,
  4.37210697e-04, 1.36701172e-04,-4.90517334e+00,-7.45021203e-03,
 -9.99493558e-04, 8.14065451e-05]


--- Step 1766 ---
qpos:
[ 2.42469002e-04, 6.44381143e-02,-4.88839616e-02, 2.93920112e-04,
 -4.39352204e-03, 1.55520395e-01,-2.38258895e-02, 3.87160083e-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,
  9.45623663e-02,-7.03665110e-02, 1.30744498e-01, 9.80135368e-01,
  3.76547120e-03,-5.60589255e-03,-1.98214672e-01]

qacc:
[ 2.50024540e+02, 5.23447677e+01,-1.53111583e+02, 1.11775055e+02,
  3.87386300e+01,-7.67406834e+01,-7.48187497e+01, 8.06952148e+01,
 -7.38635806e-02, 4.77756273e+01,-1.12879768e+02, 6.34449965e+01,
 -6.07272580e-01, 2.51744060e-01,-2.37563802e+00, 8.13152709e+00,
 -5.38425774e-02, 9.27202848e-01,-2.41528601e-01,-7.42521832e+00,
  1.65349312e+00, 2.51321184e+01]

qfrc_actuator:
[ 8.14425643e-04, 2.99691906e-01, 3.62905076e-02, 2.28580817e-03,
 -1.31213707e-03, 2.04667017e-01, 4.43641847e-03, 6.43817487e-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([ 1.33832203, -1.31344435, -0.25684585, -1.31344435,  1.39295987,
       -0.27940402, -0.25684585, -0.27940402,  2.76712311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008738543502115804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.33566664e-01, -6.79587636e-01, -6.37135166e-03, -4.67390605e-03,
       -4.32997970e-03,  9.99979703e-01, -6.79601430e-01,  7.33581554e-01,
        4.33680869e-19])
  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([ 0.12628519, -0.04055564,  0.14253299])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.99507005, -0.99258204, -0.0703229 , -0.99258204,  1.00782223,
       -0.17999238, -0.0703229 , -0.17999238,  3.53559655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009518316542241582
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59013963e-01, -2.83217348e-01, -8.95279331e-03, -2.83205008e-01,
        9.59055751e-01, -2.64383627e-03,  9.33500821e-03,  4.33680869e-19,
       -9.99956428e-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([ 0.12620459, -0.03991696,  0.13573978])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.19766209,  0.98020061,  0.19766209,  4.63950287,
       -0.73393672,  0.98020061, -0.73393672,  1.14793358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017292099907974064
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28393640e-01,  3.71467294e-01, -9.86400662e-03,  3.71446329e-01,
        9.28446040e-01,  3.94654690e-03,  1.06242110e-02,  4.33680869e-19,
       -9.99943561e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11535608, -0.0670496 ,  0.12725736])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.42568329,  0.06537031, -0.42568329,  0.5017143 ,
        0.4626098 ,  0.06537031,  0.4626098 ,  3.44313063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012858378992320642
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92046379,  0.38967952,  0.02993783,  0.38947357,  0.92095052,
       -0.01266752, -0.03250754,  0.        , -0.99947149])
  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([ 0.1122679 , -0.07560192,  0.11307008])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004979261181740774
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11484715e-13, -1.95098251e-13,  1.00000000e+00,  2.17504728e-26,
        1.00000000e+00,  1.95098251e-13, -1.00000000e+00,  0.00000000e+00,
        1.11484715e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07592238, -0.08160997,  0.06198467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02540407e-04, 2.67749375e-01, 9.72184536e-02, 5.12027257e-04,
 -2.85373026e-03, 9.18793522e-02, 4.64274258e-02, 9.56782617e-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,
  4.78114175e-04, 1.88367458e-04,-4.90515823e+00,-7.46252261e-03,
 -1.00536275e-03, 8.15620308e-05]


--- Step 1767 ---
qpos:
[ 2.85777437e-04, 6.51645963e-02,-5.02208564e-02, 2.89861424e-04,
 -4.35290959e-03, 1.57249788e-01,-2.48612723e-02, 3.65888740e-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,
  9.45361562e-02,-7.03709687e-02, 1.30746772e-01, 9.80266798e-01,
  3.98682692e-03,-5.63740768e-03,-1.97558423e-01]

qacc:
[-6.45550972e+01, 3.48500744e+02,-8.78362040e+02, 3.33741395e+02,
  4.90404019e+00,-7.57393315e+01,-6.80296922e+01, 1.36721706e+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,
 -1.23585057e+00, 2.12502944e-01, 4.06613690e-01, 7.43801993e+00,
 -1.26258670e+01, 1.69765948e+01]

qfrc_actuator:
[ 7.16234320e-04, 3.04106491e-01, 3.73660796e-02, 2.05138155e-03,
 -2.37336876e-03, 2.04898176e-01, 5.38203999e-03, 8.93263483e-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([ 1.01604952, -0.40375809,  0.93238191, -0.40375809,  0.38683627,
       -0.27247412,  0.93238191, -0.27247412,  0.89805749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005893786555218184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99789592e-01,  2.02917391e-03, -2.04121189e-02,  2.02875113e-03,
        9.99997941e-01,  4.14198244e-05,  2.04121609e-02,  0.00000000e+00,
       -9.99791650e-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([ 0.12626337, -0.04050421,  0.14251125])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.98199545, -0.86215428,  0.47011176, -0.86215428,  0.82295404,
       -0.29167157,  0.47011176, -0.29167157,  0.44708882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009068976962051401
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94788074, -0.31847164, -0.0098952 , -0.31845428,  0.94793239,
       -0.00332444,  0.01043872,  0.        , -0.99994552])
  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([ 0.12617789, -0.03985898,  0.13495474])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.16363582,  0.98645165,  0.16363582,  1.28875906,
       -0.04791162,  0.98645165, -0.04791162,  1.0078795 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001836845141600071
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92886487,  0.37028907, -0.00980119,  0.37026846,  0.92891658,
        0.00390699,  0.0105512 ,  0.        , -0.99994433])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11523955, -0.06709227,  0.12730776])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.33386588,  0.27205351, -0.33386588,  0.60163627,
        0.20980683,  0.27205351,  0.20980683,  0.6881497 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014144994505281704
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20742803e-01,  3.88721708e-01,  3.35875606e-02,  3.88463329e-01,
        9.21355216e-01, -1.41706626e-02, -3.64545183e-02,  1.73472348e-18,
       -9.99335313e-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([ 0.11214957, -0.07563288,  0.11313423])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000503662919341008
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10214886e-13,  1.65322329e-13,  1.00000000e+00, -1.82209816e-26,
        1.00000000e+00, -1.65322329e-13, -1.00000000e+00,  0.00000000e+00,
        1.10214886e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07592362, -0.08160997,  0.0619845 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96722708e-03, 2.71650065e-01, 9.91431341e-02, 4.57927707e-04,
 -4.35413209e-03, 1.03031591e-01, 5.18170161e-02, 1.06770402e-02,
 -1.20571508e-05, 2.05607702e-03, 5.04591808e-04, 6.91220936e-05,
 -1.18074881e-04, 2.12514994e-05,-2.88386768e-06, 5.95108784e-05,
  4.96575229e-04, 2.38185569e-04,-4.90514073e+00,-7.47405269e-03,
 -1.00826879e-03, 8.15971955e-05]


--- Step 1768 ---
qpos:
[ 3.50332784e-04, 6.59351837e-02,-5.15512166e-02, 2.90447208e-04,
 -4.30970785e-03, 1.58795041e-01,-2.59607473e-02, 3.43734299e-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,
  9.45062510e-02,-7.03733896e-02, 1.30749905e-01, 9.80401748e-01,
  4.20394090e-03,-5.69257108e-03,-1.96881522e-01]

qacc:
[ 169.2876073 ,  49.10257808,-110.77120317, 149.05028041,  11.60312588,
  -82.43275391, -21.92634748, 107.01349104,  -0.37987909,   0.25176129,
   10.42926451, -13.00392791,  -0.8005783 ,   0.86967755,  -1.01584666,
    3.75157342,  -0.92375738,   0.50915798,   0.21463695,   0.30813278,
  -11.95871314,  10.52867549]

qfrc_actuator:
[ 6.80002457e-04, 3.07960201e-01, 3.86056798e-02, 1.95169327e-03,
 -3.59505126e-03, 2.04998999e-01, 6.42762041e-03, 1.15282069e-03,
 -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([ 0.94709996, -0.10956419,  0.94074121, -0.10956419,  0.90565896,
       -0.00482646,  0.94074121, -0.00482646,  0.94653785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005376033348979314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99786017e-01,  2.08738345e-03, -2.05806646e-02,  2.08694133e-03,
        9.99997821e-01,  4.29598323e-05,  2.05807095e-02,  6.77626358e-21,
       -9.99788195e-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([ 0.1262347 , -0.04043711,  0.14249038])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.9629758 , -0.82467824,  0.49722046, -0.82467824,  1.38459615,
        0.69928966,  0.49722046,  0.69928966,  2.12280129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008651145363473795
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25499207e-01, -3.78579147e-01, -1.13598820e-02, -3.78550632e-01,
        9.25568922e-01, -4.64645508e-03,  1.22734047e-02,  8.67361738e-19,
       -9.99924679e-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([ 0.12614502, -0.03979684,  0.13411845])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.10953561,  0.99391423,  0.10953561,  1.42772093,
       -0.04714506,  0.99391423, -0.04714506,  1.00512745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019154188236516379
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92935901,  0.36904739, -0.00979064,  0.36902691,  0.92941058,
        0.00388764,  0.01053424,  0.        , -0.99994451])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11513952, -0.06712329,  0.12734641])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.30762574,  0.30140661, -0.30762574,  0.71597353,
        0.29118697,  0.30140661,  0.29118697,  0.72786858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015117562714860079
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92108666,  0.38765828,  0.03633756,  0.38735696,  0.92180316,
       -0.01528152, -0.03942008,  0.        , -0.99922273])
  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([ 0.11204874, -0.07565989,  0.1131842 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005089455480970229
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.45354522e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.45354522e-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([ 0.07592454, -0.08160997,  0.06198434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62931493e-03, 2.69936440e-01, 1.05348241e-01, 2.15893298e-03,
 -5.62684590e-03, 1.13191402e-01, 5.67131658e-02, 1.15230740e-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,
  5.39659818e-04, 2.07662029e-04,-4.90514257e+00,-7.49065333e-03,
 -1.01663247e-03, 8.06861777e-05]


--- Step 1769 ---
qpos:
[ 4.38468465e-04, 6.67493466e-02,-5.28660547e-02, 2.98632994e-04,
 -4.26349671e-03, 1.60175860e-01,-2.71136669e-02, 3.20936708e-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,
  9.44733467e-02,-7.03733599e-02, 1.30753521e-01, 9.80537852e-01,
  4.40982255e-03,-5.76981454e-03,-1.96195779e-01]

qacc:
[ 1.87973031e+02, 2.94347595e+01,-5.41332447e+01, 1.29548553e+02,
  1.32988313e+01,-8.11999289e+01, 1.33457269e+00, 9.37568410e+01,
 -3.96529641e-02, 3.88121169e+00,-3.55355033e+00,-1.75600963e+00,
 -4.17397691e-01, 3.04250474e-01,-5.80623438e-01, 2.09328376e+00,
 -7.49786439e-01, 6.12672250e-01, 1.20712974e-01,-3.30977754e+00,
 -1.19075165e+01, 4.52663349e+00]

qfrc_actuator:
[ 6.37445684e-04, 3.11837260e-01, 3.98421580e-02, 1.97762246e-03,
 -4.61318451e-03, 2.05173217e-01, 7.53321394e-03, 1.38471874e-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([ 0.87901675, -0.07324088,  0.87596017, -0.07324088,  1.28965849,
        0.03433462,  0.87596017,  0.03433462,  0.88188754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000484902789404726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99781421e-01,  2.17085033e-03, -2.07941826e-02,  2.17038094e-03,
        9.99997644e-01,  4.51411646e-05,  2.07942316e-02,  0.00000000e+00,
       -9.99783777e-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([ 0.12620125, -0.04036568,  0.14247012])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.94171331, -0.82160164,  0.46021158, -0.82160164,  1.52513349,
        1.04156219,  0.46021158,  1.04156219,  2.8011824 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008289009445046711
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8951736 , -0.44552881, -0.01297298, -0.44548204,  0.8952676 ,
       -0.00645599,  0.01449061,  0.        , -0.99989501])
  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([ 0.12610749, -0.03973062,  0.13323969])
  solimp: array([9.0e-01, 9.5e-01, 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,  0.06029529,  0.99811223,  0.06029529,  1.49113705,
       -0.02967338,  0.99811223, -0.02967338,  1.00172432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001968337532442946
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92986636,  0.36776615, -0.00982895,  0.36774561,  0.92991831,
        0.00388717,  0.01056969,  0.        , -0.99994414])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11505442, -0.06714397,  0.12737459])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28256523,  0.32501758, -0.28256523,  0.80099434,
        0.32195131,  0.32501758,  0.32195131,  0.71057281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015811676106688825
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92148714,  0.38651854,  0.03827358,  0.38618558,  0.92228164,
       -0.01604005, -0.0414988 ,  0.        , -0.99913855])
  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([ 0.11196373, -0.07568321,  0.11322148])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005140012996920074
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07998076e-13, -8.09985567e-14,  1.00000000e+00,  8.74768825e-27,
        1.00000000e+00,  8.09985567e-14, -1.00000000e+00,  0.00000000e+00,
        1.07998076e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07592524, -0.08160994,  0.06198418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73535125e-03, 2.71595840e-01, 1.06264543e-01, 1.95388842e-03,
 -6.77432914e-03, 1.22530233e-01, 6.10184138e-02, 1.21959527e-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,
  5.42967065e-04, 1.74075164e-04,-4.90513030e+00,-7.50752453e-03,
 -1.01800326e-03, 8.01204439e-05]


--- Step 1770 ---
qpos:
[ 5.18487715e-04, 6.76118476e-02,-5.42586481e-02, 2.70274361e-04,
 -4.21749576e-03, 1.61412358e-01,-2.83111350e-02, 2.97733863e-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,
  9.44357181e-02,-7.03727926e-02, 1.30758685e-01, 9.80677718e-01,
  4.62403363e-03,-5.87590232e-03,-1.95487356e-01]

qacc:
[-6.76485024e+01, 2.04950904e+02,-4.84308321e+02,-5.85010491e+01,
 -3.94843872e-01,-7.45489977e+01, 6.19630173e+00, 1.00995428e+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,
 -1.18108223e+00, 1.34387981e-01, 3.86813754e-01, 6.97036671e+00,
 -1.32635180e+01, 1.15275861e+01]

qfrc_actuator:
[ 5.98014412e-04, 3.15817732e-01, 4.11361721e-02, 2.05635619e-03,
 -5.29761245e-03, 2.05534187e-01, 8.70755727e-03, 1.67216471e-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([ 0.8232753 , -0.48528102,  0.66504477, -0.48528102,  0.46069679,
       -0.26457237,  0.66504477, -0.26457237,  0.6302177 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043307179984552346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99775894e-01,  2.28138020e-03, -2.10465499e-02,  2.28087487e-03,
        9.99997398e-01,  4.80153073e-05,  2.10466047e-02, -1.35525272e-20,
       -9.99778496e-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([ 0.1261631 , -0.0402913 ,  0.14245126])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.9010299 , -0.66627942,  0.60656954, -0.66627942,  0.62606203,
       -0.30203533,  0.60656954, -0.30203533,  0.56926262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007722853605729283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.962328  , -0.27170456, -0.01007206, -0.27168968,  0.96238071,
       -0.0028436 ,  0.01046578,  0.        , -0.99994523])
  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([ 0.12606547, -0.03966179,  0.13234146])
  solimp: array([9.0e-01, 9.5e-01, 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([ 9.99931767e-01,  2.73077721e-02,  9.99558815e-01,  2.73077721e-02,
        1.01277682e+00, -3.50924471e-04,  9.99558815e-01, -3.50924471e-04,
        9.99941355e-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: -0.0019988176760788175
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93037795,  0.36646768, -0.0099154 ,  0.36644687,  0.93043078,
        0.00390537,  0.01065678,  0.        , -0.99994321])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11498256, -0.06715559,  0.12739357])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.25803294,  0.34481668, -0.25803294,  0.59022305,
        0.1193941 ,  0.34481668,  0.1193941 ,  0.52001826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001626133389833551
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92193405,  0.38532956,  0.0394808 ,  0.38497672,  0.92277902,
       -0.0164862 , -0.04278468,  0.        , -0.99908432])
  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([ 0.11189277, -0.07570312,  0.1132475 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005189471327794598
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67421996e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67421996e-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([ 0.07592578, -0.08160988,  0.06198403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95511020e-03, 2.73383327e-01, 1.06788280e-01, 1.65371986e-03,
 -7.60911799e-03, 1.31077108e-01, 6.48626299e-02, 1.28049186e-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,
  5.19303367e-04, 1.34558191e-04,-4.90511239e+00,-7.52418668e-03,
 -1.01433007e-03, 7.99872424e-05]


--- Step 1771 ---
qpos:
[ 6.22340227e-04, 6.85165986e-02,-5.56288811e-02, 2.51454543e-04,
 -4.16698227e-03, 1.62524618e-01,-2.95434351e-02, 2.74267186e-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,
  9.43956514e-02,-7.03696491e-02, 1.30764167e-01, 9.80819513e-01,
  4.82614647e-03,-5.99962358e-03,-1.94766004e-01]

qacc:
[ 1.89655109e+02, 1.26547935e+01,-4.97322240e+00, 1.03897814e+02,
  1.94106725e+01,-7.22779989e+01, 3.05792450e+01, 7.08395542e+01,
  4.52610210e+00,-9.26362224e+00, 3.38404115e+01,-4.55637311e+01,
 -9.24283131e-02,-2.45528343e-02, 2.29266086e+00,-8.31320221e+00,
 -6.09516474e-01, 6.44071251e-01, 7.97662706e-02,-4.17515632e+00,
 -9.79334522e+00, 6.60455086e+00]

qfrc_actuator:
[ 6.18228334e-04, 3.19536265e-01, 4.24452605e-02, 2.06585601e-03,
 -5.69103821e-03, 2.05999609e-01, 9.95338495e-03, 1.95762784e-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([ 0.7749515 , -0.2815817 ,  0.72198447, -0.2815817 ,  1.05781703,
        0.1103206 ,  0.72198447,  0.1103206 ,  0.81797772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037581884870831954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99769023e-01,  2.38899255e-03, -2.13586930e-02,  2.38844756e-03,
        9.99997146e-01,  5.10259041e-05,  2.13587540e-02,  0.00000000e+00,
       -9.99771876e-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([ 0.1261223 , -0.04021123,  0.1424303 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.9032822 , -0.48732671, -0.76054678, -0.48732671,  0.70493256,
        0.12709419, -0.76054678,  0.12709419,  0.82184553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007751585302764501
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80442491, -0.59382565, -0.01648192, -0.01326027, -0.00978872,
        0.99986416, -0.59390633,  0.8045342 ,  0.        ])
  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([ 0.12602158, -0.03958714,  0.13136   ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.01678801,  0.99979083, -0.01678801,  1.26897867,
        0.00451771,  0.99979083,  0.00451771,  1.00000763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002008112510176088
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93090381,  0.36512594, -0.01005655,  0.36510464,  0.93095813,
        0.00394423,  0.01080237,  0.        , -0.99994165])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11492166, -0.06715873,  0.12740422])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.22241486,  0.36879692, -0.22241486,  0.78628274,
        0.21446169,  0.36879692,  0.21446169,  0.56001138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001648638254894198
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22437481e-01,  3.84068791e-01,  4.00032164e-02,  3.83708143e-01,
        9.23304481e-01, -1.66402170e-02, -4.33261370e-02,  1.73472348e-18,
       -9.99060982e-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([ 0.11183339, -0.07572029,  0.1132632 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00052351222582743
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.30180085e-14,  7.95270127e-14,  1.00000000e+00, -4.21636383e-27,
        1.00000000e+00, -7.95270127e-14, -1.00000000e+00,  0.00000000e+00,
        5.30180085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07592612, -0.08160984,  0.0619839 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53036535e-03, 2.74669908e-01, 1.11991402e-01, 3.49169281e-03,
 -7.99186743e-03, 1.38728399e-01, 6.83357771e-02, 1.32933959e-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,
  5.50321717e-04, 8.51064336e-05,-4.90512301e+00,-7.54223004e-03,
 -1.01713427e-03, 7.98286638e-05]


--- Step 1772 ---
qpos:
[ 7.54530762e-04, 6.94611119e-02,-5.69903903e-02, 2.36133686e-04,
 -4.10688352e-03, 1.63535203e-01,-3.08004071e-02, 2.50669940e-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,
  9.43538817e-02,-7.03624898e-02, 1.30769504e-01, 9.80964002e-01,
  5.00634778e-03,-6.13125648e-03,-1.94028273e-01]

qacc:
[ 2.24769131e+02, 3.48185577e+01,-6.34928125e+01, 8.17994187e+01,
  4.05005897e+01,-6.81363527e+01, 5.33919440e+01, 3.83122770e+01,
  3.06085613e+00,-2.11432220e+01, 6.11462971e+01,-6.43507015e+01,
  7.86070702e-01,-1.13239874e+00,-1.07684583e+01, 3.61331116e+01,
 -4.25747322e-01, 1.00394152e+00,-3.62622638e-02,-9.93253761e+00,
 -5.96614193e+00, 8.37942258e+00]

qfrc_actuator:
[ 3.43731511e-04, 3.22711582e-01, 4.35701116e-02, 1.96684474e-03,
 -6.00326449e-03, 2.06565349e-01, 1.11791955e-02, 2.17109753e-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([ 0.73825079, -0.37818384,  0.63402777, -0.37818384,  1.16804475,
        0.2563628 ,  0.63402777,  0.2563628 ,  0.89116565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031996920287921806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99761327e-01,  2.52313895e-03, -2.17007490e-02,  2.52254478e-03,
        9.99996817e-01,  5.47541795e-05,  2.17008181e-02,  6.77626358e-21,
       -9.99764510e-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([ 0.1260768 , -0.04012817,  0.14241103])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007606616485073084
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74182283, -0.67034804, -0.0182316 , -0.01352687, -0.01222355,
        0.99983379, -0.67045948,  0.74194615,  0.        ])
  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([ 0.12597321, -0.03951004,  0.13036375])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.09121692,  0.99576253, -0.09121692,  1.42504644,
        0.03894267,  0.99576253,  0.03894267,  1.00349911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020001775779339478
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93143678,  0.36375916, -0.01023748,  0.36373719,  0.93149303,
        0.00399786,  0.0109904 ,  0.        , -0.9999396 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11487038, -0.06715484,  0.12740794])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.17042232,  0.39551962, -0.17042232,  0.97241942,
        0.23342868,  0.39551962,  0.23342868,  0.53125359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016526791462290304
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92298282,  0.38276043,  0.03996465,  0.38240212,  0.92384764,
       -0.0165578 , -0.04325892,  0.        , -0.99906389])
  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([ 0.11178413, -0.07573501,  0.11327038])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005280316554128819
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10256907e-13, -1.92033835e-07,  1.00000000e+00, -4.03764402e-20,
        1.00000000e+00,  1.92033835e-07, -1.00000000e+00,  0.00000000e+00,
       -2.10256907e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07513309, -0.08384785,  0.06198376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.99808125e-03, 2.75715925e-01, 1.12003713e-01, 2.91682001e-03,
 -8.52964501e-03, 1.45480817e-01, 7.13049697e-02, 1.36395387e-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,
  5.27280398e-04, 5.54486507e-05,-4.90510890e+00,-7.55884211e-03,
 -1.01031601e-03, 8.07041921e-05]


--- Step 1773 ---
qpos:
[ 9.19486965e-04, 7.04425047e-02,-5.83493554e-02, 2.20823108e-04,
 -4.03337489e-03, 1.64464619e-01,-3.20734036e-02, 2.27048118e-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,
  9.43106021e-02,-7.03505445e-02, 1.30774495e-01, 9.81111126e-01,
  5.15938877e-03,-6.26545791e-03,-1.93274632e-01]

qacc:
[ 2.59316665e+02, 4.09685788e+01,-7.63787131e+01, 4.64919808e+01,
  5.62565076e+01,-6.30385764e+01, 7.00189438e+01, 1.11662032e+01,
 -3.40042474e-01, 1.51438601e+00,-1.10794934e+01, 1.44254820e+01,
  1.83913085e-01,-2.85701511e-01, 1.10478332e+00,-3.57536311e+00,
 -3.77486638e-01, 1.19648321e+00,-8.65890218e-02,-1.30302791e+01,
 -3.84685328e+00, 8.14930365e+00]

qfrc_actuator:
[-1.57135087e-04, 3.25759588e-01, 4.47311338e-02, 1.89371432e-03,
 -6.16713302e-03, 2.07289421e-01, 1.24322738e-02, 2.35884647e-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([ 0.71045517, -0.46958195,  0.53314101, -0.46958195,  1.36186699,
        0.57375296,  0.53314101,  0.57375296,  1.21580747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002655677797203632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99753259e-01,  2.68635549e-03, -2.20500372e-02,  2.68570234e-03,
        9.99996392e-01,  5.92344521e-05,  2.20501168e-02,  0.00000000e+00,
       -9.99756867e-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([ 0.1260273 , -0.04004031,  0.14239347])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.79344996, -0.78023118,  0.14422948, -0.78023118,  0.94638637,
        0.82733267,  0.14422948,  0.82733267,  5.26903129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006506822032795875
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90045742, -0.4348027 , -0.01109288, -0.43476971,  0.90052574,
       -0.005356  ,  0.01231823,  0.        , -0.99992413])
  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([ 0.12592098, -0.03942901,  0.12933717])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.17474953,  0.98454362, -0.17474953,  1.50986391,
        0.09050935,  0.98454362,  0.09050935,  1.01599654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001977730957073328
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31979488e-01,  3.62360577e-01, -1.04424819e-02,  3.62337833e-01,
        9.32037989e-01,  4.05986004e-03,  1.12039231e-02,  4.33680869e-19,
       -9.99937234e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1148267 , -0.06714488,  0.12740598])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.11917377,  0.41385644, -0.11917377,  1.07668665,
        0.18602547,  0.41385644,  0.18602547,  0.4842411 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016413001141510864
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92356596,  0.38140316,  0.03946586,  0.38105541,  0.9244088 ,
       -0.01628328, -0.04269308,  0.        , -0.99908823])
  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([ 0.1117427 , -0.07574772,  0.11327062])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005342151964905645
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03911591e-13,  1.03911591e-13,  1.00000000e+00, -1.07976188e-26,
        1.00000000e+00, -1.03911591e-13, -1.00000000e+00,  0.00000000e+00,
        1.03911591e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428946, -0.08624915,  0.06198357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.91756710e-03, 2.76757359e-01, 1.12733424e-01, 2.66970091e-03,
 -9.17276292e-03, 1.51267369e-01, 7.37949378e-02, 1.38936233e-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,
  4.84248861e-04, 5.15703456e-05,-4.90508254e+00,-7.57316257e-03,
 -9.98962470e-04, 8.24923202e-05]


--- Step 1774 ---
qpos:
[ 1.11385222e-03, 7.14676851e-02,-5.97064540e-02, 2.04967401e-04,
 -3.94727137e-03, 1.65336145e-01,-3.33614798e-02, 2.03364707e-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,
  9.42658630e-02,-7.03346195e-02, 1.30779307e-01, 9.81257737e-01,
  5.28666700e-03,-6.40748988e-03,-1.92520774e-01]

qacc:
[ 2.32090752e+02, 5.08409997e+01,-9.59322698e+01, 5.23954523e+01,
  5.25458809e+01,-3.57017857e+01, 1.87382450e+01, 3.74347182e+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,
 -3.64885989e-01, 9.94934263e-01,-4.49124228e-02,-1.18793447e+01,
 -6.33200565e+00, 1.57666028e-01]

qfrc_actuator:
[-7.38575878e-04, 3.29268518e-01, 4.59343015e-02, 1.82044886e-03,
 -6.14312982e-03, 2.09122805e-01, 1.37029340e-02, 2.54837795e-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([ 0.68964506, -0.50754802,  0.46691039, -0.50754802,  1.09134955,
        0.43666691,  0.46691039,  0.43666691,  1.16431735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021250251544604692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99745065e-01,  2.88200122e-03, -2.23941699e-02,  2.88127846e-03,
        9.99995847e-01,  6.45402930e-05,  2.23942629e-02,  1.35525272e-20,
       -9.99749217e-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([ 0.12597423, -0.03994676,  0.14237756])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006317073695259813
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39972387e-01, -5.42514058e-01, -1.11752226e-02, -9.38746459e-03,
       -6.06309397e-03,  9.99937555e-01, -5.42547938e-01,  8.40024842e-01,
       -8.67361738e-19])
  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([ 0.12586526, -0.03934337,  0.12827289])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.19462172,  0.98080881, -0.19462172,  1.46954393,
        0.09318506,  0.98080881,  0.09318506,  1.01842246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019430837761451436
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93253159,  0.36093094, -0.01066278,  0.36090735,  0.93259255,
        0.0041267 ,  0.01143348,  0.        , -0.99993464])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11478877, -0.06712969,  0.12739942])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.10744667,  0.41705485, -0.10744667,  1.00790917,
        0.14871441,  0.41705485,  0.14871441,  0.46898695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016176449061202696
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92529377,  0.37651726,  0.04545547,  0.37606375,  0.9264096 ,
       -0.0184743 , -0.04906628,  0.        , -0.99879552])
  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([ 0.11169139, -0.07579704,  0.11334332])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005396702191637348
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.05722492e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.05722492e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429489, -0.08625021,  0.06198341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.13915852e-03, 2.78402398e-01, 1.13813774e-01, 2.59678777e-03,
 -9.81926574e-03, 1.57141039e-01, 7.58712825e-02, 1.40967183e-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,
  4.27072363e-04, 6.21137219e-05,-4.90505274e+00,-7.58525278e-03,
 -9.84558770e-04, 8.48133562e-05]


--- Step 1775 ---
qpos:
[ 1.33492714e-03, 7.25391262e-02,-6.10638455e-02, 1.87615378e-04,
 -3.84884823e-03, 1.66166876e-01,-3.46628798e-02, 1.79613496e-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,
  9.42197738e-02,-7.03152208e-02, 1.30784007e-01, 9.81401714e-01,
  5.38867124e-03,-6.56070300e-03,-1.91777461e-01]

qacc:
[ 2.10149301e+02, 5.81694238e+01,-1.13267105e+02, 5.48787597e+01,
  5.11722897e+01,-1.81634724e+01,-1.07628118e+01, 5.05014619e+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,
 -3.37484611e-01, 8.68441014e-01,-2.76119940e-02,-1.13506745e+01,
 -7.95499208e+00,-5.31678831e+00]

qfrc_actuator:
[-1.07631610e-03, 3.32570773e-01, 4.70736531e-02, 1.80091158e-03,
 -6.01095256e-03, 2.11435685e-01, 1.49541033e-02, 2.73944738e-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([ 0.67489736, -0.53500564,  0.41140663, -0.53500564,  0.92839081,
        0.32965055,  0.41140663,  0.32965055,  1.10358491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001622464269746851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99736499e-01,  3.10762785e-03, -2.27436784e-02,  3.10682399e-03,
        9.99995171e-01,  7.06792296e-05,  2.27437882e-02,  1.35525272e-20,
       -9.99741327e-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([ 0.12591737, -0.03985036,  0.14236379])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006278330736979974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62977889e-01, -6.46330316e-01, -1.10391691e-02, -8.42315519e-03,
       -7.13538444e-03,  9.99939067e-01, -6.46369702e-01,  7.63024383e-01,
        8.67361738e-19])
  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([ 0.125806  , -0.03925593,  0.12720656])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.22113799,  0.97517256, -0.22113799,  1.44999416,
        0.10205978,  0.97517256,  0.10205978,  1.02307566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018992991007268408
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93308129,  0.35950009, -0.01090795,  0.35947553,  0.93314505,
        0.00420236,  0.01168945,  0.        , -0.99993168])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11475504, -0.06711049,  0.12738943])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.08970655,  0.4212271 , -0.08970655,  0.9606874 ,
        0.11287434,  0.4212271 ,  0.11287434,  0.45471162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015838305005726541
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92593483,  0.37508008,  0.04426774,  0.37465216,  0.92699241,
       -0.01791163, -0.04775416,  0.        , -0.99885912])
  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([ 0.11165994, -0.07580686,  0.11333351])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005445422053824561
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01940953e-13,  1.01940953e-13,  1.00000000e+00,  1.03919578e-26,
        1.00000000e+00, -1.01940953e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01940953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429906, -0.08625105,  0.06198326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09493771e-02, 2.79493689e-01, 1.14863643e-01, 2.60527159e-03,
 -1.03168313e-02, 1.62332579e-01, 7.78817752e-02, 1.43200285e-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,
  3.59600469e-04, 5.10187707e-05,-4.90503196e+00,-7.59648600e-03,
 -9.68716868e-04, 8.71169225e-05]


--- Step 1776 ---
qpos:
[ 1.40380838e-03, 7.35732348e-02,-6.24692512e-02, 1.23042600e-04,
 -3.75232188e-03, 1.66968829e-01,-3.59698759e-02, 1.56000515e-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,
  9.41600953e-02,-7.02990987e-02, 1.30794673e-01, 9.81557602e-01,
  5.55094475e-03,-6.78160976e-03,-1.90965628e-01]

qacc:
[-1.19929492e+03,-1.01634189e+01, 1.67900882e+02,-8.85148296e+02,
 -7.70001440e+00,-1.95101121e+01, 8.58656487e+00, 4.53927992e+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,
 -3.39736637e+00,-8.19169528e-01, 1.49120284e+00, 3.62579313e+01,
 -2.72144989e+01, 3.47495679e+01]

qfrc_actuator:
[-9.92858095e-04, 3.34646124e-01, 4.81938807e-02, 1.79702781e-03,
 -5.83638619e-03, 2.13420982e-01, 1.62156064e-02, 2.98500595e-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([ 0.66507802, -0.64800796,  0.14971459, -0.64800796,  0.63777842,
       -0.11816053,  0.14971459, -0.11816053,  0.15364514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001156144326393539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99727390e-01,  3.36110230e-03, -2.31051583e-02,  3.36020501e-03,
        9.99994351e-01,  7.76592394e-05,  2.31052888e-02,  0.00000000e+00,
       -9.99733037e-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([ 0.12585681, -0.03975289,  0.14235242])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.62712614, -0.54129806,  0.31667586, -0.54129806,  0.47251156,
       -0.26428464,  0.31667586, -0.26428464,  0.17538105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047516213962652015
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99534488, -0.09561037, -0.01213332, -0.09560327,  0.99541883,
       -0.00116541,  0.01218916,  0.        , -0.99992571])
  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([ 0.12574513, -0.03918817,  0.12637386])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.11976271,  0.99273382, -0.11976271,  0.44565777,
       -0.06686723,  0.99273382, -0.06686723,  0.99186495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018486947069773912
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93362065,  0.35808854, -0.01118417,  0.35806285,  0.93368763,
        0.00428936,  0.01197849,  0.        , -0.99992826])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11472435, -0.06708822,  0.12737689])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.15579022,  0.40150834, -0.15579022,  0.26864145,
       -0.06287039,  0.40150834, -0.06287039,  0.40627886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015428357710798952
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26576961e-01,  3.73656470e-01,  4.28482979e-02,  3.73257582e-01,
        9.27567163e-01, -1.72607919e-02, -4.61942807e-02,  3.46944695e-18,
       -9.98932474e-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([ 0.11163164, -0.07581526,  0.11332036])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000548892438373097
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01133022e-13,  2.02266045e-13,  1.00000000e+00, -2.04557764e-26,
        1.00000000e+00, -2.02266045e-13, -1.00000000e+00,  0.00000000e+00,
        1.01133022e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430224, -0.08625174,  0.06198313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22035879e-02, 2.79232690e-01, 1.16001818e-01, 2.67686707e-03,
 -1.07582457e-02, 1.66343428e-01, 7.98154564e-02, 1.46010594e-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,
  2.86579615e-04, 2.61754301e-05,-4.90501865e+00,-7.60662819e-03,
 -9.51631396e-04, 8.96081655e-05]


--- Step 1777 ---
qpos:
[ 1.43919338e-03, 7.45917599e-02,-6.38952319e-02, 2.29655860e-05,
 -3.64800402e-03, 1.67761491e-01,-3.72733313e-02, 1.32449125e-03,
 -4.46956855e-03, 2.14847656e-01,-1.09407180e-02,-1.95586335e-02,
  1.37504780e+00, 1.88887064e-02, 1.34892671e+00, 2.44089406e-02,
  9.40890889e-02,-7.02829053e-02, 1.30809497e-01, 9.81731280e-01,
  5.75348125e-03,-7.05071361e-03,-1.90054938e-01]

qacc:
[-2.63534270e+02,-3.55097049e+01, 2.47564502e+02,-8.18768557e+02,
  3.22761947e+01,-2.09215546e+01, 5.41051257e+01,-4.22109426e+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,
 -2.83194804e+00, 1.78413846e-02, 1.03946612e+00, 2.46480467e+01,
 -1.94749963e+01, 5.02128530e+01]

qfrc_actuator:
[-6.48235369e-04, 3.36281207e-01, 4.93682248e-02, 1.84885911e-03,
 -5.53833461e-03, 2.15409309e-01, 1.74809117e-02, 3.22596363e-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([ 0.65652443, -0.6302583 ,  0.18384451, -0.6302583 ,  0.62497248,
       -0.10816684,  0.18384451, -0.10816684,  0.28570537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.237203117088348e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99714911e-01,  3.47546477e-03, -2.36224183e-02,  3.47449493e-03,
        9.99993961e-01,  8.20993784e-05,  2.36225610e-02,  1.35525272e-20,
       -9.99720948e-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([ 0.12579718, -0.03963709,  0.14232951])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.57956863, -0.39377908,  0.42525031, -0.39377908,  0.30092363,
       -0.25802349,  0.42525031, -0.25802349,  0.34064052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004093136369765745
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99517925, -0.09725281, -0.01265484, -0.09724494,  0.99525971,
       -0.00123658,  0.01271511,  0.        , -0.99991916])
  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([ 0.12569524, -0.03920602,  0.12636038])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.15955543,  0.98711985, -0.15955543,  0.42693252,
       -0.09261808,  0.98711985, -0.09261808,  0.98496123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017825646471298197
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93420558,  0.35654729, -0.01157437,  0.35651993,  0.93427727,
        0.00441712,  0.01238858,  0.        , -0.99992326])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11469207, -0.06705976,  0.12736058])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.12199234,  0.41303439, -0.12199234,  0.25038635,
       -0.05324892,  0.41303439, -0.05324892,  0.41494595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014887907626832306
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27290980e-01,  3.72094518e-01,  4.09525090e-02,  3.71732177e-01,
        9.28194845e-01, -1.64170316e-02, -4.41205952e-02,  1.73472348e-18,
       -9.99026212e-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([ 0.11160156, -0.07582339,  0.11330145])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005518715863512269
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00587080e-13, -1.00587080e-13,  1.00000000e+00,  1.01177606e-26,
        1.00000000e+00,  1.00587080e-13, -1.00000000e+00,  0.00000000e+00,
        1.00587080e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430439, -0.08625248,  0.06198304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.25042385e-03, 2.82713081e-01, 1.19581168e-01, 5.09067196e-03,
 -1.03652742e-02, 1.69757532e-01, 8.13669560e-02, 1.47745480e-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,
  4.61039446e-04,-1.21052330e-04,-4.90509857e+00,-7.62962282e-03,
 -9.71504810e-04, 8.76372322e-05]


--- Step 1778 ---
qpos:
[ 1.40235069e-03, 7.56178090e-02,-6.55679297e-02,-3.21090647e-04,
 -3.50220531e-03, 1.68567753e-01,-3.85613413e-02, 1.08488419e-03,
 -4.46023804e-03, 2.19084012e-01,-1.09737588e-02,-1.95622588e-02,
  1.37513515e+00, 1.88896129e-02, 1.34902556e+00, 2.44058587e-02,
  9.40180435e-02,-7.02552889e-02, 1.30821905e-01, 9.81931722e-01,
  5.90939816e-03,-7.29099733e-03,-1.89002680e-01]

qacc:
[-5.73341689e+02, 1.96158469e+02, 3.45365627e+02,-4.17890820e+03,
  1.70986174e+02,-3.38345253e+01, 1.63509222e+02,-2.68553752e+02,
 -1.85336675e-02, 6.23718128e+00,-1.05480403e+01, 1.09387980e+01,
 -7.06591533e-01, 1.19490351e+00, 5.65183844e+00,-1.94867770e+01,
 -9.75128191e-03, 2.85572496e+00,-6.03855919e-01,-2.52005736e+01,
  1.02182725e+01, 7.21157168e+01]

qfrc_actuator:
[-2.93496925e-04, 3.38444181e-01, 5.06023108e-02, 1.99454914e-03,
 -4.94433728e-03, 2.17196200e-01, 1.87593527e-02, 3.42886899e-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([ 0.53606228, -0.2780939 ,  0.45828654, -0.2780939 ,  0.20587791,
       -0.20035993,  0.45828654, -0.20035993,  0.41448141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032560046999394215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97849308, -0.20573648, -0.01495954, -0.20571244,  0.97860743,
       -0.003145  ,  0.01528656,  0.        , -0.99988315])
  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([ 0.12564487, -0.03922992,  0.1263422 ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.40561016,  0.91397152, -0.40561016,  0.64768873,
       -0.15632145,  0.91397152, -0.15632145,  0.93055809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001703322107482881
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93485773,  0.3548181 , -0.01204782,  0.35478864,  0.93493536,
        0.00457228,  0.01288626,  0.        , -0.99991697])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11465657, -0.06702586,  0.12734158])
  solimp: array([9.0e-01, 9.5e-01, 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, 0.0166171 , 0.43035266, 0.0166171 , 0.30931001,
       0.00468617, 0.43035266, 0.00468617, 0.43049241, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0014247010961170002
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92771801,  0.37120497,  0.03932138,  0.37087198,  0.92855095,
       -0.01571943, -0.04234703,  0.        , -0.99910296])
  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([ 0.11157165, -0.07582218,  0.11328557])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000553831470420707
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00231125e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00231125e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430576, -0.08625323,  0.06198299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22247934e-03, 2.85635134e-01, 1.21848942e-01, 7.01269674e-03,
 -1.01608856e-02, 1.71996255e-01, 8.24748487e-02, 1.49483217e-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,
  6.36157193e-04,-2.18402791e-04,-4.90516853e+00,-7.65538513e-03,
 -9.87358092e-04, 8.67603284e-05]


--- Step 1779 ---
qpos:
[ 1.41210194e-03, 7.67607233e-02,-6.71608044e-02,-6.53953833e-04,
 -3.31284654e-03, 1.69391975e-01,-3.98338706e-02, 8.40272853e-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,
  9.39477053e-02,-7.02172758e-02, 1.30832000e-01, 9.82152212e-01,
  6.01662122e-03,-7.50600683e-03,-1.87841669e-01]

qacc:
[ 3.65059318e+02,-4.54768969e+01, 3.38318530e+02,-3.57566913e+02,
  1.79164986e+02,-3.00628960e+01, 1.62239683e+02,-2.86284684e+02,
  6.04108014e-02,-7.85805143e+00, 2.36466514e+01,-1.38116280e+01,
 -5.37925627e-01, 8.32076865e-01,-3.21092416e+00, 1.06483536e+01,
  1.76781955e-01, 2.59921209e+00,-5.78192825e-01,-2.59582423e+01,
  8.20156430e+00, 5.53915320e+01]

qfrc_actuator:
[ 4.84303461e-05, 3.40622974e-01, 5.21066138e-02, 2.45473634e-03,
 -4.28058898e-03, 2.18701032e-01, 2.00323541e-02, 3.64891093e-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([ 0.51100087, -0.51023345, -0.02799488, -0.51023345,  0.51621042,
       -0.09494906, -0.02799488, -0.09494906,  2.2415379 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000257420277497298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.69679751e-01, -6.38097836e-01, -2.05969095e-02, -1.58563879e-02,
       -1.31456321e-02,  9.99787861e-01, -6.38233231e-01,  7.69843064e-01,
       -1.73472348e-18])
  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([ 0.12560669, -0.03926137,  0.12631432])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.46352417,  0.88600727, -0.46352417,  0.66115369,
       -0.17723537,  0.88600727, -0.17723537,  0.90720919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016186484301420588
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35608868e-01,  3.52817537e-01, -1.24832254e-02,  3.52786137e-01,
        9.35692143e-01,  4.70699776e-03,  1.33411672e-02, -8.67361738e-19,
       -9.99911003e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11461778, -0.06698875,  0.1273221 ])
  solimp: array([9.0e-01, 9.5e-01, 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, 0.02139983, 0.43014136, 0.02139983, 0.3016289 ,
       0.00642005, 0.43014136, 0.00642005, 0.43035395, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0013581027060335354
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28610796e-01,  3.69198156e-01,  3.70770887e-02,  3.68904219e-01,
        9.29350699e-01, -1.47294157e-02, -3.98956914e-02,  1.73472348e-18,
       -9.99203850e-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([ 0.11153315, -0.07583282,  0.11326304])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005553763502727377
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.99523138e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.99523138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430658, -0.08625392,  0.06198294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72961225e-03, 2.87420700e-01, 1.35697494e-01, 1.96740833e-02,
 -1.15715097e-02, 1.72807801e-01, 8.29817997e-02, 1.53746426e-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,
  6.03213392e-04,-2.69269315e-05,-4.90506246e+00,-7.66807417e-03,
 -9.65253027e-04, 9.42483420e-05]


--- Step 1780 ---
qpos:
[ 1.47498240e-03, 7.80285668e-02,-6.86850903e-02,-9.80391912e-04,
 -3.08099465e-03, 1.70234281e-01,-4.10910398e-02, 5.90567210e-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,
  9.38780061e-02,-7.01706707e-02, 1.30840204e-01, 9.82385567e-01,
  6.07910006e-03,-7.70456569e-03,-1.86607294e-01]

qacc:
[ 4.14747541e+02,-1.35721806e+01, 2.59836904e+02,-3.49161510e+02,
  1.74404310e+02,-2.97315697e+01, 1.61695370e+02,-2.87218581e+02,
  1.89078165e+00,-9.85605099e+00, 3.20459754e+01,-4.02375528e+01,
 -1.05763560e+00, 1.60619666e+00,-8.40696932e+00, 2.89132377e+01,
  1.59768068e-01, 2.14797793e+00,-4.72724287e-01,-2.32812452e+01,
  4.14507884e+00, 3.73538341e+01]

qfrc_actuator:
[ 2.74987751e-04, 3.42095317e-01, 5.35096884e-02, 2.89278337e-03,
 -3.71793007e-03, 2.20097840e-01, 2.12958781e-02, 3.88178319e-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([ 0.4804416 , -0.48023989,  0.01392052, -0.48023989,  0.48186959,
        0.04926378,  0.01392052,  0.04926378,  2.17997838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011285836311215095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90262041, -0.43025071, -0.01267743, -0.43020828,  0.90270943,
       -0.00604234,  0.01404376,  0.        , -0.99990138])
  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([ 0.12555189, -0.0392909 ,  0.12629016])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.50127847,  0.86520717, -0.50127847,  0.66392215,
       -0.19467521,  0.86520717, -0.19467521,  0.88714203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015308542724500728
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93643376,  0.35060764, -0.01288763,  0.35057444,  0.93652244,
        0.00482477,  0.01376115,  0.        , -0.99990531])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11457598, -0.06694928,  0.12730267])
  solimp: array([9.0e-01, 9.5e-01, 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, 0.01000134, 0.43055721, 0.01000134, 0.29811086,
       0.00307927, 0.43055721, 0.00307927, 0.43060183, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0012907960329541614
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92958986,  0.36694707,  0.03482165,  0.36668989,  0.93024182,
       -0.01373589, -0.0374329 ,  0.        , -0.99929914])
  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([ 0.11149028, -0.07584548,  0.11324076])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005564500404029726
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.97594522e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.97594522e-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([ 0.07430697, -0.08625457,  0.06198291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75599285e-04, 2.83028430e-01, 1.33115741e-01, 1.95542873e-02,
 -1.31872561e-02, 1.73292606e-01, 8.34771543e-02, 1.58592924e-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,
  5.11900903e-04, 1.84599534e-04,-4.90498680e+00,-7.67619011e-03,
 -9.34257244e-04, 1.00852608e-04]


--- Step 1781 ---
qpos:
[ 1.36381352e-03, 7.93552306e-02,-7.02331435e-02,-1.44116419e-03,
 -2.79962615e-03, 1.71111027e-01,-4.23233865e-02, 3.34295472e-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,
  9.38043736e-02,-7.01152528e-02, 1.30848181e-01, 9.82647083e-01,
  6.12226584e-03,-7.89545905e-03,-1.85215792e-01]

qacc:
[-1.35605756e+03,-1.28610775e+02, 1.14358473e+03,-3.47957736e+03,
  2.02760638e+02,-3.75925497e+01, 2.27239849e+02,-4.05342704e+02,
  2.11798045e+00, 3.48642961e+00,-5.55163261e+00,-1.16986959e+01,
  3.29910908e-01,-6.62079206e-01,-5.13851980e+00, 1.76776158e+01,
 -9.83346084e-01, 2.20319965e+00,-5.69748845e-02,-9.68195918e+00,
  2.54933798e+00, 7.98582615e+01]

qfrc_actuator:
[ 4.07150371e-04, 3.43373023e-01, 5.49023417e-02, 3.22907385e-03,
 -3.28553976e-03, 2.21422526e-01, 2.25653969e-02, 4.08894013e-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([ 0.47367766, -0.34206027,  0.32766645, -0.34206027,  0.28054132,
       -0.20162049,  0.32766645, -0.20162049,  0.26320034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.998010622918133e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99899642e-01,  2.69725388e-03, -1.39079067e-02,  2.69699300e-03,
        9.99996362e-01,  3.75132919e-05,  1.39079573e-02, -6.77626358e-21,
       -9.99903280e-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([ 0.12548009, -0.0391878 ,  0.12628093])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.50942457,  0.86043602, -0.50942457,  0.52467991,
       -0.28137475,  0.86043602, -0.28137475,  0.83334272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014414502138812408
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9373056 ,  0.3482556 , -0.0132763 ,  0.34822067,  0.93739962,
        0.00493231,  0.0141629 ,  0.        , -0.9998997 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11453162, -0.06690805,  0.12728359])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.03977854,  0.42883238, -0.03977854,  0.20489513,
       -0.02094321,  0.42883238, -0.02094321,  0.42873066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012237886188141375
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30613138e-01,  3.64550118e-01,  3.25944615e-02,  3.64326721e-01,
        9.31183769e-01, -1.27604402e-02, -3.50032534e-02, -1.73472348e-18,
       -9.99387198e-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([ 0.11144391, -0.07585923,  0.11321918])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005570829374632047
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96461164e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.96461164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430702, -0.08625519,  0.0619829 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90258185e-03, 2.78032825e-01, 1.31083031e-01, 1.95706947e-02,
 -1.48799661e-02, 1.73698312e-01, 8.39841790e-02, 1.63226685e-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,
  3.88127012e-04, 3.58211395e-04,-4.90494353e+00,-7.68179785e-03,
 -9.00019310e-04, 1.06402289e-04]


--- Step 1782 ---
qpos:
[ 1.36990512e-03, 8.25456463e-02,-7.05951763e-02,-1.70662810e-03,
 -2.46573352e-03, 1.72004392e-01,-4.35405302e-02, 6.97399460e-05,
 -4.41968797e-03, 2.36022601e-01,-1.10896481e-02,-1.95757772e-02,
  1.37548028e+00, 1.88975420e-02, 1.34941862e+00, 2.44069982e-02,
  9.37342821e-02,-7.00493273e-02, 1.30854632e-01, 9.82918760e-01,
  6.10094364e-03,-8.05633633e-03,-1.83762304e-01]

qacc:
[ 9.14029497e+02,-4.38986126e+02, 4.31985444e+03,-4.21380329e+03,
  2.14518432e+02,-3.78319672e+01, 2.01125259e+02,-3.80415214e+02,
 -1.14873382e+00, 1.51575393e+00,-9.69523248e+00, 2.55182833e+01,
 -6.86820218e-02,-3.06675773e-01, 4.63112210e+00,-1.55164533e+01,
  8.85284298e-01, 2.62689970e+00,-3.81355697e-01,-3.42505921e+01,
  9.00537574e+00, 3.15595748e+01]

qfrc_actuator:
[ 7.59613523e-04, 3.44834126e-01, 5.64246732e-02, 3.69575758e-03,
 -2.91982610e-03, 2.22485070e-01, 2.38229059e-02, 4.28417738e-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([ 0.99993177, -0.62912022,  0.77722023, -0.62912022,  0.65108364,
       -0.28237481,  0.77722023, -0.28237481,  0.77136373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013464609421012762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93828194,  0.34560156, -0.01365906,  0.34556494,  0.93838135,
        0.00503057,  0.01455598,  0.        , -0.99989406])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11448135, -0.06686331,  0.12726464])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.00357122,  0.43065855, -0.00357122,  0.22569952,
       -0.00169974,  0.43065855, -0.00169974,  0.43065926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011553486967762565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31837032e-01,  3.61585541e-01,  3.05882700e-02,  3.61390889e-01,
        9.32338938e-01, -1.18629349e-02, -3.28081009e-02, -1.73472348e-18,
       -9.99461669e-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([ 0.11138895, -0.07587854,  0.11320092])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005568891561905931
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96807904e-14,  9.96807904e-14,  1.00000000e+00, -9.93625997e-27,
        1.00000000e+00, -9.96807904e-14, -1.00000000e+00,  0.00000000e+00,
        9.96807904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430673, -0.08625589,  0.0619829 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.15081637e-03, 2.76524694e-01, 1.33797687e-01, 2.67556860e-02,
 -1.69907666e-02, 1.73022747e-01, 8.40054475e-02, 1.68476096e-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,
  3.92922863e-04, 6.20559827e-04,-4.90490986e+00,-7.68870932e-03,
 -8.82175784e-04, 1.10360360e-04]


--- Step 1783 ---
qpos:
[ 1.41759031e-03, 8.58830943e-02,-7.11798463e-02,-2.05845182e-03,
 -2.09286652e-03, 1.72927168e-01,-4.47418099e-02,-2.01458372e-04,
 -4.41059617e-03, 2.40255249e-01,-1.11178293e-02,-1.95778151e-02,
  1.37556558e+00, 1.88992723e-02, 1.34951714e+00, 2.44061567e-02,
  9.36606318e-02,-6.99795294e-02, 1.30862043e-01, 9.83197372e-01,
  6.06811830e-03,-8.23208874e-03,-1.82258989e-01]

qacc:
[ 3.09904700e+02, 6.32040116e+02,-1.61195830e+03, 3.72150577e+02,
  1.58679598e+02,-1.93321451e+01, 1.52919759e+02,-3.14422233e+02,
 -3.26011102e+00,-2.50080166e+00,-1.12298476e-02, 2.22142856e+01,
 -6.08396853e-01, 5.55877788e-01, 5.05131335e+00,-1.72011805e+01,
 -8.89723837e-01, 9.68103828e-01, 2.40013575e-01,-4.10703171e+00,
 -8.18753066e+00, 2.52159380e+01]

qfrc_actuator:
[ 9.69309020e-04, 3.45056128e-01, 5.67180151e-02, 3.98252098e-03,
 -2.54592207e-03, 2.24210995e-01, 2.50551470e-02, 4.58312274e-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([ 0.47540438, -0.44405073,  0.16978892, -0.44405073,  0.45216537,
       -0.06077722,  0.16978892, -0.06077722,  0.31645309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.760998538540496e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99889569e-01,  2.65425508e-03, -1.46220942e-02,  2.65397131e-03,
        9.99996477e-01,  3.88109045e-05,  1.46221457e-02,  0.00000000e+00,
       -9.99893091e-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([ 0.12512096, -0.03892152,  0.12635352])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.57321663,  0.81932059, -0.57321663,  0.55212099,
       -0.31329932,  0.81932059, -0.31329932,  0.78073994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001252062485256075
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93929459,  0.34282579, -0.01400512,  0.34278769,  0.939399  ,
        0.00511105,  0.0149086 ,  0.        , -0.99988886])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11442956, -0.0668174 ,  0.12724637])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.09360941,  0.42037699, -0.09360941,  0.21245005,
       -0.04859389,  0.42037699, -0.04859389,  0.41985248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010890416645797842
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33013551e-01,  3.58737508e-01,  2.81622702e-02,  3.58574199e-01,
        9.33438483e-01, -1.08232763e-02, -3.01704619e-02,  1.73472348e-18,
       -9.99544768e-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([ 0.11133262, -0.07589607,  0.11317812])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005546697589751542
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00159285e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00159285e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0743059 , -0.08625689,  0.06198297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.87052217e-04, 1.83449763e-01, 7.47680831e-02, 1.72739561e-02,
 -1.92437188e-02, 1.73900824e-01, 8.44820875e-02, 1.75620936e-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,
  1.46293009e-04, 9.09666773e-04,-4.90489461e+00,-7.68472986e-03,
 -8.26662010e-04, 1.16145412e-04]


--- Step 1784 ---
qpos:
[ 1.48874477e-03, 8.90598666e-02,-7.18876866e-02,-2.45087524e-03,
 -1.68632111e-03, 1.73885288e-01,-4.59285154e-02,-4.79419279e-04,
 -4.40232755e-03, 2.44484126e-01,-1.11455817e-02,-1.95795962e-02,
  1.37565083e+00, 1.89000935e-02, 1.34961531e+00, 2.44066835e-02,
  9.35818620e-02,-6.99077371e-02, 1.30870972e-01, 9.83480530e-01,
  6.03624206e-03,-8.43442196e-03,-1.80716552e-01]

qacc:
[ 175.87144846,  46.72415201,-304.77036092, -81.03788018, 136.64949796,
   -8.12364968, 124.88751896,-290.80591127,  -2.0314147 ,  -5.65097559,
   11.84015181,  -5.31924016,   0.63837379,  -1.24590947,  -4.74821019,
   15.64752476,  -1.27988939,   0.49859961,   0.37937048,   3.03610548,
  -12.84318858,  19.72385044]

qfrc_actuator:
[ 9.62332921e-04, 3.45168588e-01, 5.71904600e-02, 4.34712441e-03,
 -2.36984264e-03, 2.26315508e-01, 2.62832378e-02, 4.92821285e-03,
 -3.18168081e-04, 2.19552762e-01, 1.04506778e-03, 3.11253420e-04,
  8.38743224e-04,-1.36597140e-03, 0.00000000e+00,-9.97893332e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.49874538, -0.47135453,  0.16300877, -0.47135453,  0.47363844,
       -0.07259897,  0.16300877, -0.07259897,  0.28881892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021333278534338464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99884307e-01,  2.73198704e-03, -1.49635932e-02,  2.73168117e-03,
        9.99996268e-01,  4.08804953e-05,  1.49636490e-02,  6.77626358e-21,
       -9.99888038e-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([ 0.12483473, -0.03887018,  0.12642879])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.58766123,  0.80902275, -0.58766123,  0.53709332,
       -0.33619847,  0.80902275, -0.33619847,  0.75572256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011559366351925652
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94033261,  0.33995244, -0.01438502,  0.33991267,  0.94044263,
        0.00519992,  0.01529601,  0.        , -0.99988301])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11437391, -0.06676971,  0.1272287 ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.1303034 ,  0.4104882 , -0.1303034 ,  0.21021722,
       -0.06998053,  0.4104882 , -0.06998053,  0.40845907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010229070791298316
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33589983e-01,  3.57859427e-01,  1.86111437e-02,  3.57788341e-01,
        9.33775471e-01, -7.13252106e-03, -1.99310694e-02,  8.67361738e-19,
       -9.99801357e-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([ 0.11128102, -0.07589108,  0.11307327])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005514823316699891
  efc_address: 9
  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([ 0.07430481, -0.08625802,  0.06198307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61061576e-03, 1.76099417e-01, 8.63422571e-02, 2.19514681e-02,
 -2.10170444e-02, 1.74516660e-01, 8.49210144e-02, 1.82405867e-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,
  9.31047626e-05, 9.38571152e-04,-4.90488853e+00,-7.69046542e-03,
 -8.09022518e-04, 1.19275451e-04]


--- Step 1785 ---
qpos:
[ 1.57587977e-03, 9.20321241e-02,-7.26866175e-02,-2.86929884e-03,
 -1.25102597e-03, 1.74872899e-01,-4.70996683e-02,-7.63581066e-04,
 -4.39419445e-03, 2.48703825e-01,-1.11723594e-02,-1.95815023e-02,
  1.37573611e+00, 1.88994357e-02, 1.34971366e+00, 2.44057487e-02,
  9.34970736e-02,-6.98350953e-02, 1.30881726e-01, 9.83766248e-01,
  6.01208382e-03,-8.67091080e-03,-1.79144188e-01]

qacc:
[ 1.19204572e+02,-6.96350037e+01,-3.47225843e+01,-1.18714894e+02,
  1.16322612e+02,-1.73619447e+01, 1.44323872e+02,-2.97890508e+02,
 -2.83292508e-01,-1.51099472e+01, 3.68047402e+01,-3.37778073e+01,
  7.79809583e-01,-1.71566323e+00, 4.57971518e+00,-1.59036957e+01,
 -1.50461457e+00, 2.12361764e-01, 4.56311809e-01, 6.99998510e+00,
 -1.59971987e+01, 1.50182796e+01]

qfrc_actuator:
[ 7.38077605e-04, 3.44665351e-01, 5.78842232e-02, 4.71171039e-03,
 -2.46477282e-03, 2.27883868e-01, 2.74860299e-02, 5.25050884e-03,
 -3.34462607e-04, 2.18832968e-01, 9.83314200e-04, 2.79511740e-04,
  8.24603256e-04,-1.45658655e-03, 0.00000000e+00,-1.07709901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.54106497, -0.51517499,  0.16536636, -0.51517499,  0.51460728,
       -0.0824251 ,  0.16536636, -0.0824251 ,  0.28428147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003369699153888102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99878027e-01,  2.83792732e-03, -1.53582900e-02,  2.83759260e-03,
        9.99995973e-01,  4.35858864e-05,  1.53583519e-02,  6.77626358e-21,
       -9.99882054e-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([ 0.1245655 , -0.03879241,  0.12649689])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.60044437,  0.7995812 , -0.60044437,  0.52678056,
       -0.35531223,  0.7995812 , -0.35531223,  0.73311055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010581645327581424
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41387305e-01,  3.37002049e-01, -1.48175946e-02,  3.36960310e-01,
        9.41503914e-01,  5.30381197e-03,  1.57382188e-02, -8.67361738e-19,
       -9.99876147e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1143138 , -0.0667204 ,  0.12721176])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.42911343, -0.1606296 ,  0.39791515, -0.1606296 ,  0.20744739,
       -0.08948171,  0.39791515, -0.08948171,  0.39299163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009584497412240876
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93583194,  0.35181437,  0.02110053,  0.35172497,  0.93606979,
       -0.00793047, -0.02254162,  0.        , -0.99974591])
  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([ 0.11120198, -0.07594436,  0.11310862])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005476321773788678
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01365759e-13,  1.01365759e-13,  1.00000000e+00, -1.02750171e-26,
        1.00000000e+00, -1.01365759e-13, -1.00000000e+00,  0.00000000e+00,
        1.01365759e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430354, -0.08625921,  0.06198319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01816949e-03, 1.83524757e-01, 9.31652902e-02, 2.43410775e-02,
 -2.27966432e-02, 1.74298319e-01, 8.53985731e-02, 1.89021814e-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,
  8.40945112e-05, 8.79261139e-04,-4.90488323e+00,-7.69960186e-03,
 -7.99785133e-04, 1.22138012e-04]


--- Step 1786 ---
qpos:
[ 1.67547188e-03, 9.48105107e-02,-7.35591681e-02,-3.30622433e-03,
 -7.91875599e-04, 1.75885443e-01,-4.82542927e-02,-1.05340190e-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,
  9.34056454e-02,-6.97624224e-02, 1.30894492e-01, 9.84053025e-01,
  6.00027917e-03,-8.94694279e-03,-1.77548847e-01]

qacc:
[ 9.20784926e+01,-8.86385863e+01, 2.20618548e+01,-8.18474669e+01,
  9.62309119e+01,-2.49285279e+01, 1.60358322e+02,-3.02859277e+02,
  7.83083509e-01,-1.69455772e+01, 3.60247008e+01,-2.36995357e+01,
  1.11112789e-01,-7.28232447e-01, 1.14148278e+01,-3.92880653e+01,
 -1.65997694e+00, 7.78763993e-03, 5.03167538e-01, 9.71492390e+00,
 -1.82704199e+01, 1.14623670e+01]

qfrc_actuator:
[ 4.17061035e-04, 3.44184846e-01, 5.86924605e-02, 5.02466836e-03,
 -2.78410936e-03, 2.29140002e-01, 2.86490821e-02, 5.52576641e-03,
 -3.29658618e-04, 2.18121176e-01, 9.56388351e-04, 2.79056758e-04,
  8.23698700e-04,-1.49205250e-03, 0.00000000e+00,-1.26539260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.58996688, -0.56338468,  0.17509601, -0.56338468,  0.56091698,
       -0.09347024,  0.17509601, -0.09347024,  0.28921928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004254506698223573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99870401e-01,  2.96607327e-03, -1.58235003e-02,  2.96570192e-03,
        9.99995601e-01,  4.69338676e-05,  1.58235699e-02, -6.77626358e-21,
       -9.99874799e-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([ 0.12431529, -0.03868733,  0.12655696])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.99624257, -0.61635643,  0.78269024, -0.61635643,  0.52550522,
       -0.37069836,  0.78269024, -0.37069836,  0.70432336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009580637156117508
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42451386e-01,  3.33992244e-01, -1.53155329e-02,  3.33948151e-01,
        9.42575822e-01,  5.42690473e-03,  1.62485951e-02,  8.67361738e-19,
       -9.99867983e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1142495 , -0.06666928,  0.12719528])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.42066815, -0.1838425 ,  0.3783697 , -0.1838425 ,  0.20662239,
       -0.10400068,  0.3783697 , -0.10400068,  0.37013623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008937737222780501
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36994130e-01,  3.48840286e-01,  1.87738160e-02,  3.48770286e-01,
        9.37182189e-01, -6.98803651e-03, -2.00321947e-02, -8.67361738e-19,
       -9.99799335e-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([ 0.11113225, -0.07596214,  0.11308871])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005433135827258989
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02171477e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02171477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430217, -0.08626042,  0.06198333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14703324e-03, 1.93172844e-01, 9.85020138e-02, 2.59497359e-02,
 -2.45541687e-02, 1.74059062e-01, 8.57869404e-02, 1.94885631e-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,
  9.96930803e-05, 7.55984986e-04,-4.90488348e+00,-7.71174886e-03,
 -7.94588026e-04, 1.24931001e-04]


--- Step 1787 ---
qpos:
[ 1.78740575e-03, 9.74248745e-02,-7.44929030e-02,-3.75649083e-03,
 -3.14088641e-04, 1.76919011e-01,-4.93914732e-02,-1.34851632e-03,
 -4.37643517e-03, 2.57111212e-01,-1.12280945e-02,-1.95856966e-02,
  1.37590612e+00, 1.88960649e-02, 1.34991089e+00, 2.43947522e-02,
  9.33070987e-02,-6.96903715e-02, 1.30909408e-01, 9.84339567e-01,
  6.00431930e-03,-9.26686803e-03,-1.75936609e-01]

qacc:
[ 8.99722223e+01,-7.33404498e+01, 2.97195029e+00,-1.52501928e+01,
  7.49530914e+01,-3.18278388e+01, 1.76010012e+02,-3.10884569e+02,
  2.05333941e+00,-3.11823796e+00, 1.33911286e-01,-4.38048824e+00,
 -2.36550378e-01, 8.54903100e-02, 5.61164038e+00,-1.97822602e+01,
 -1.77960570e+00,-1.55510922e-01, 5.37337408e-01, 1.17689395e+01,
 -2.01404036e+01, 8.35311323e+00]

qfrc_actuator:
[ 1.06129447e-04, 3.44286216e-01, 5.94995843e-02, 5.36280921e-03,
 -3.20918983e-03, 2.30148305e-01, 2.98165989e-02, 5.79249208e-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([ 0.63192487, -0.60442641,  0.18438478, -0.60442641,  0.60133914,
       -0.10026219,  0.18438478, -0.10026219,  0.30325828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048083922768912016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99861130e-01,  3.11395363e-03, -1.63714120e-02,  3.11353629e-03,
        9.99995152e-01,  5.09800650e-05,  1.63714914e-02,  6.77626358e-21,
       -9.99865978e-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([ 0.1240823 , -0.03855735,  0.12660945])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.95754019, -0.608195  ,  0.73958235, -0.608195  ,  0.51104638,
       -0.36717386,  0.73958235, -0.36717386,  0.65559503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000855146842317003
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94351932,  0.33093636, -0.01588803,  0.33088945,  0.94365308,
        0.00557188,  0.01683673,  0.        , -0.99985825])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11418121, -0.06661628,  0.1271791 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.40544951, -0.19961606,  0.35290613, -0.19961606,  0.20566769,
       -0.11300359,  0.35290613, -0.11300359,  0.34153072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008283634916538434
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39832070e-01,  3.41222471e-01,  1.68197873e-02,  3.41167839e-01,
        9.39982567e-01, -6.10574023e-03, -1.78937226e-02, -8.67361738e-19,
       -9.99839895e-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([ 0.11103868, -0.07603369,  0.11307367])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005386832828974397
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03049701e-13, -3.09149103e-13,  1.00000000e+00,  3.18577226e-26,
        1.00000000e+00,  3.09149103e-13, -1.00000000e+00,  0.00000000e+00,
        1.03049701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07430074, -0.08626163,  0.06198347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08881615e-03, 2.02878313e-01, 1.02967393e-01, 2.72093428e-02,
 -2.61726565e-02, 1.73798842e-01, 8.61305035e-02, 2.00392382e-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,
  1.33893345e-04, 5.84987488e-04,-4.90489375e+00,-7.72667512e-03,
 -7.91478239e-04, 1.27668920e-04]


--- Step 1788 ---
qpos:
[ 1.91142695e-03, 9.99089171e-02,-7.54769086e-02,-4.21589141e-03,
  1.77082507e-04, 1.77971756e-01,-5.05099130e-02,-1.64845842e-03,
 -4.36618898e-03, 2.61312214e-01,-1.12627744e-02,-1.95899275e-02,
  1.37599084e+00, 1.88943082e-02, 1.35000921e+00, 2.43878914e-02,
  9.32010416e-02,-6.96194667e-02, 1.30926581e-01, 9.84624863e-01,
  6.02700206e-03,-9.63420218e-03,-1.74312180e-01]

qacc:
[ 8.68838897e+01,-5.07296310e+01,-3.08155402e+01, 4.92017667e+01,
  5.36748035e+01,-3.68624702e+01, 1.88541938e+02,-3.16174778e+02,
  2.06354526e+00, 1.26421839e+01,-3.57492178e+01, 1.38332021e+01,
 -1.56352900e-01, 1.32658872e-01, 9.04889851e-01,-3.66673263e+00,
 -1.87761611e+00,-2.86506470e-01, 5.64093914e-01, 1.34060628e+01,
 -2.16624490e+01, 5.94710291e+00]

qfrc_actuator:
[-2.21371257e-04, 3.45086206e-01, 6.03230526e-02, 5.73605229e-03,
 -3.68428748e-03, 2.30913082e-01, 3.09615147e-02, 6.07374940e-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([ 0.65571623, -0.6276576 ,  0.18976225, -0.6276576 ,  0.62453177,
       -0.10314571,  0.18976225, -0.10314571,  0.31455149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005070781571465675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99849903e-01,  3.28229891e-03, -1.70117148e-02,  3.28182393e-03,
        9.99994613e-01,  5.58378340e-05,  1.70118065e-02, -6.77626358e-21,
       -9.99855289e-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([ 0.12386343, -0.03840602,  0.12665532])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.88217026, -0.57703306,  0.66727597, -0.57703306,  0.48500693,
       -0.34345066,  0.66727597, -0.34345066,  0.58516813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007490265758181978
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9445863 ,  0.32784608, -0.01654266,  0.32779582,  0.94473115,
        0.00574073,  0.01751045,  0.        , -0.99984668])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11410911, -0.06656135,  0.12716304])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.38465723, -0.20794251,  0.32360639, -0.20794251,  0.20435678,
       -0.1158572 ,  0.32360639, -0.1158572 ,  0.31020989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007623324586284742
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40609255e-01,  3.39192593e-01,  1.42342392e-02,  3.39153760e-01,
        9.40716953e-01, -5.13241361e-03, -1.51312668e-02,  8.67361738e-19,
       -9.99885516e-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([ 0.11096528, -0.07603984,  0.11305172])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005338670210879859
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03979360e-13,  1.03979360e-13,  1.00000000e+00, -1.08117073e-26,
        1.00000000e+00, -1.03979360e-13, -1.00000000e+00,  0.00000000e+00,
        1.03979360e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429928, -0.08626279,  0.06198362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.04079527e-03, 2.11796574e-01, 1.06830283e-01, 2.82466090e-02,
 -2.75801582e-02, 1.73489537e-01, 8.64052245e-02, 2.05860927e-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,
  1.83212030e-04, 3.74880744e-04,-4.90491832e+00,-7.74430615e-03,
 -7.89239116e-04, 1.30319626e-04]


--- Step 1789 ---
qpos:
[ 2.04457457e-03, 1.02288285e-01,-7.64992002e-02,-4.68014488e-03,
  6.76263221e-04, 1.79044152e-01,-5.16085238e-02,-1.95291463e-03,
 -4.35502022e-03, 2.65517941e-01,-1.13004427e-02,-1.95945782e-02,
  1.37607575e+00, 1.88918609e-02, 1.35010735e+00, 2.43808520e-02,
  9.30871614e-02,-6.95501304e-02, 1.30946087e-01, 9.84908085e-01,
  6.07050968e-03,-1.00517877e-02,-1.72679398e-01]

qacc:
[ 6.49258333e+01,-4.14525200e+01,-3.26862530e+01, 8.70522664e+01,
  3.20461232e+01,-3.85734717e+01, 1.94308307e+02,-3.18697060e+02,
  2.01184600e+00, 1.37271700e+01,-3.81200911e+01, 3.21665970e+01,
  5.58979006e-01,-9.65079191e-01, 2.12763982e-01,-1.28972357e+00,
 -1.95577554e+00,-3.92146798e-01, 5.83566560e-01, 1.46785425e+01,
 -2.29091924e+01, 3.98230678e+00]

qfrc_actuator:
[-7.05516776e-04, 3.45946718e-01, 6.11876404e-02, 6.13148620e-03,
 -4.22710294e-03, 2.31489676e-01, 3.20490904e-02, 6.36537725e-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([ 0.6569716 , -0.62856449,  0.1910978 , -0.62856449,  0.62524862,
       -0.10434417,  0.1910978 , -0.10434417,  0.31375968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000508413257209714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99836391e-01,  3.47153189e-03, -1.77521786e-02,  3.47098483e-03,
        9.99993974e-01,  6.16276255e-05,  1.77522856e-02,  0.00000000e+00,
       -9.99842416e-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([ 0.12365536, -0.03823698,  0.12669566])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.78282284, -0.52707109,  0.57879847, -0.52707109,  0.44708187,
       -0.30573571,  0.57879847, -0.30573571,  0.50441082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006395347595521189
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45648615e-01,  3.24730507e-01, -1.72856680e-02,  3.24676270e-01,
        9.45806586e-01,  5.93481142e-03,  1.82761129e-02, -8.67361738e-19,
       -9.99832978e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11403319, -0.06650455,  0.12714705])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.35960428, -0.20999379,  0.29192096, -0.20999379,  0.20151478,
       -0.11372192,  0.29192096, -0.11372192,  0.27779824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006951125832702808
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94140064,  0.33707535,  0.01204331,  0.33704777,  0.94147767,
       -0.00431184, -0.01279192,  0.        , -0.99991818])
  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([ 0.11088769, -0.07604663,  0.11303481])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005289624860032871
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09886911e-13,  1.04943456e-13,  1.00000000e+00, -2.20262578e-26,
        1.00000000e+00, -1.04943456e-13, -1.00000000e+00,  0.00000000e+00,
        2.09886911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429782, -0.08626387,  0.06198377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.13622756e-03, 2.19095560e-01, 1.10190997e-01, 2.90962103e-02,
 -2.87926961e-02, 1.73083431e-01, 8.65573220e-02, 2.11199457e-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,
  2.46008883e-04, 1.34128737e-04,-4.90496083e+00,-7.76456615e-03,
 -7.86999139e-04, 1.32836972e-04]


--- Step 1790 ---
qpos:
[ 2.18317788e-03, 1.04584103e-01,-7.75471820e-02,-5.14490630e-03,
  1.17827083e-03, 1.80145725e-01,-5.26882628e-02,-2.26234377e-03,
 -4.34356494e-03, 2.69722923e-01,-1.13360308e-02,-1.95984159e-02,
  1.37616076e+00, 1.88888549e-02, 1.35020539e+00, 2.43737626e-02,
  9.29652361e-02,-6.94827122e-02, 1.30967981e-01, 9.85188475e-01,
  6.13645889e-03,-1.05218462e-02,-1.71041819e-01]

qacc:
[ 3.85979664e+01,-3.96524038e+01,-1.67822334e+01, 1.10493999e+02,
  1.12565402e+01,-2.42613675e+01, 1.63519422e+02,-3.01341310e+02,
  6.40206674e-01,-5.12398866e+00, 1.34115740e+01,-2.12477968e+00,
  4.18643656e-01,-7.57697318e-01,-6.67473477e-02,-1.35887528e-01,
 -2.01125528e+00,-4.79513559e-01, 5.96818303e-01, 1.56146624e+01,
 -2.39026147e+01, 2.16418851e+00]

qfrc_actuator:
[-1.37428636e-03, 3.46710251e-01, 6.21382813e-02, 6.57511228e-03,
 -4.79277550e-03, 2.32673073e-01, 3.31291827e-02, 6.71810279e-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([ 0.63839355, -0.61006622,  0.18805724, -0.61006622,  0.60705014,
       -0.10167944,  0.18805724, -0.10167944,  0.30854084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000488265372554461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99820254e-01,  3.67922159e-03, -1.85990072e-02,  3.67858516e-03,
        9.99993232e-01,  6.84303319e-05,  1.85991331e-02,  0.00000000e+00,
       -9.99827021e-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([ 0.12345544, -0.03805314,  0.12673136])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.67429798, -0.46783892,  0.48559707, -0.46783892,  0.40294484,
       -0.26142983,  0.48559707, -0.26142983,  0.42242857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005267347239622178
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94670318,  0.32159708, -0.01812218,  0.32153817,  0.94687661,
        0.00615501,  0.0191389 ,  0.        , -0.99981683])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11395329, -0.06644603,  0.12713119])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.33185533, -0.20714073,  0.25926951, -0.20714073,  0.19793686,
       -0.1069928 ,  0.25926951, -0.1069928 ,  0.24637452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006266799805221203
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42504995e-01,  3.34062885e-01,  9.29105579e-03,  3.34046654e-01,
        9.42550789e-01, -3.29297576e-03, -9.85735294e-03,  4.33680869e-19,
       -9.99951415e-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([ 0.11080246, -0.07606372,  0.11301176])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005240469068737152
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05927829e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05927829e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429638, -0.08626487,  0.06198393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.26780819e-03, 2.25019427e-01, 1.13040395e-01, 2.97803195e-02,
 -2.97593116e-02, 1.73259494e-01, 8.66470442e-02, 2.16991349e-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,
  3.20435286e-04,-1.30432834e-04,-4.90502439e+00,-7.78736827e-03,
 -7.83969801e-04, 1.35187533e-04]


--- Step 1791 ---
qpos:
[ 0.00232817, 0.10682117,-0.07860855,-0.00560594, 0.0016787 , 0.18128895,
 -0.0537507 ,-0.00257742,-0.0043329 , 0.27391925,-0.01136651,-0.01960187,
  1.37624566, 0.01888575, 1.35030306, 0.02436904, 0.09283514,-0.06941743,
  0.13099227, 0.98546546, 0.00622566,-0.01104579,-0.16940208]

qacc:
[ 4.45816207e+01,-3.25038052e+01,-1.25590881e+01, 1.41616359e+02,
 -6.32510642e+00,-4.83577802e+00, 1.21023057e+02,-2.77151063e+02,
 -1.60949124e+00,-2.49307705e+01, 7.06973814e+01,-6.59424328e+01,
  1.94139988e-01,-2.95906788e-01,-7.74673819e+00, 2.62479797e+01,
 -2.04193429e+00,-5.35219275e-01, 5.98706180e-01, 1.60856451e+01,
 -2.45669577e+01, 8.16631705e-01]

qfrc_actuator:
[-1.95853128e-03, 3.47507353e-01, 6.30722622e-02, 7.04524991e-03,
 -5.35243085e-03, 2.34646980e-01, 3.41978107e-02, 7.05649354e-03,
 -2.88767760e-04, 2.18717635e-01, 1.15992484e-03, 2.75633244e-04,
  8.50643553e-04,-1.53621569e-03, 0.00000000e+00,-1.25271921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.60703294, -0.57918716,  0.18174495, -0.57918716,  0.57849951,
       -0.0909307 ,  0.18174495, -0.0909307 ,  0.31725379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044966251469958187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99801130e-01,  3.90209819e-03, -1.95569610e-02,  3.90135188e-03,
        9.99992387e-01,  7.63137632e-05,  1.95571099e-02,  0.00000000e+00,
       -9.99808741e-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([ 0.12326137, -0.03785707,  0.12676325])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.58095221, -0.41356586,  0.40800582, -0.41356586,  0.3616811 ,
       -0.22225919,  0.40800582, -0.22225919,  0.35566421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041152830429814255
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94774718,  0.31845273, -0.01905631,  0.31838837,  0.94793874,
        0.00640182,  0.02010289,  0.        , -0.99979792])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11386866, -0.06638628,  0.12711586])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.30332778, -0.19959675,  0.22840507, -0.19959675,  0.19255817,
       -0.09679844,  0.22840507, -0.09679844,  0.21873835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005580515586457401
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94359513,  0.33103879,  0.00644625,  0.33103106,  0.94361715,
       -0.00226147, -0.00683142,  0.        , -0.99997667])
  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([ 0.11071261, -0.07608098,  0.11298821])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005191764619712769
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.20764645e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.20764645e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429496, -0.08626576,  0.06198408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.13097385e-03, 2.29923995e-01, 1.15244758e-01, 3.02739753e-02,
 -3.04608197e-02, 1.73748405e-01, 8.67726202e-02, 2.22868354e-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,
  4.04378742e-04,-4.13032637e-04,-4.90511148e+00,-7.81256651e-03,
 -7.79401668e-04, 1.37358827e-04]


--- Step 1792 ---
qpos:
[ 0.00248453, 0.10902526,-0.07967122,-0.00605902, 0.00217427, 0.18248232,
 -0.05479646,-0.00289832,-0.00432217, 0.27811095,-0.01139786,-0.01960644,
  1.37633023, 0.01888295, 1.35040054, 0.02436686, 0.09269684,-0.06935439,
  0.13101891, 0.98573866, 0.00633819,-0.01162433,-0.16776171]

qacc:
[ 7.81983252e+01,-2.35532430e+01,-1.29925135e+01, 1.77100064e+02,
 -1.92381644e+01, 7.80267992e+00, 9.30066011e+01,-2.57345031e+02,
  1.40148705e-01,-5.98288913e+00, 1.71260551e+01,-3.15068376e+01,
 -2.17954129e-01, 3.28648840e-01,-7.94590317e+00, 2.74349783e+01,
 -2.05329016e+00,-5.59047121e-01, 5.89166136e-01, 1.61333059e+01,
 -2.49420781e+01, 2.86478486e-02]

qfrc_actuator:
[-2.24663635e-03, 3.48297710e-01, 6.39587165e-02, 7.54501681e-03,
 -5.94070391e-03, 2.37035546e-01, 3.52358241e-02, 7.33568860e-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([ 0.57158698, -0.54435008,  0.17434065, -0.54435008,  0.54800733,
       -0.07362357,  0.17434065, -0.07362357,  0.34170945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003960974752133919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99778624e-01,  4.14134367e-03, -2.06289155e-02,  4.14046238e-03,
        9.99991425e-01,  8.54321610e-05,  2.06290924e-02, -2.71050543e-20,
       -9.99787198e-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([ 0.12307056, -0.03765156,  0.12679228])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.52385564, -0.37976682,  0.360835  , -0.37976682,  0.33478532,
       -0.19899022,  0.360835  , -0.19899022,  0.31442507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002951036639096675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94877848,  0.31530263, -0.02009088,  0.31523197,  0.94899117,
        0.0066752 ,  0.02117077,  0.        , -0.99977587])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11377839, -0.06632589,  0.1271016 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.27581334, -0.18907353,  0.20080887, -0.18907353,  0.18571881,
       -0.08482938,  0.20080887, -0.08482938,  0.19594142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000490495591042386
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94466786,  0.32800931,  0.00353926,  0.32800701,  0.94467449,
       -0.0012289 , -0.00374654,  0.        , -0.99999298])
  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([ 0.11061729, -0.07609855,  0.11296472])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005143914724702325
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07916158e-13, -2.15832315e-13,  1.00000000e+00, -2.32917942e-26,
        1.00000000e+00,  2.15832315e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07916158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429359, -0.08626653,  0.06198423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.74432869e-03, 2.33584046e-01, 1.16787523e-01, 3.05857789e-02,
 -3.09706256e-02, 1.74026698e-01, 8.69451915e-02, 2.28489209e-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,
  4.94653769e-04,-7.06199976e-04,-4.90522289e+00,-7.83996014e-03,
 -7.72425610e-04, 1.39407535e-04]


--- Step 1793 ---
qpos:
[ 0.00265527, 0.11121439,-0.0807237 ,-0.00650039, 0.00266243, 0.18372682,
 -0.05582468,-0.00322445,-0.00431102, 0.28230344,-0.0114322 ,-0.01961154,
  1.37641414, 0.01888121, 1.35049829, 0.02436425, 0.09255034,-0.06929356,
  0.13104783, 0.9860079 , 0.00647343,-0.01225753,-0.16612126]

qacc:
[ 9.77297564e+01,-2.40505206e+01, 7.51815932e+00, 1.89852694e+02,
 -2.91586953e+01, 7.84670601e+00, 9.22750947e+01,-2.48688421e+02,
  8.36017849e-01, 8.34299217e+00,-2.59948450e+01, 2.10891145e+01,
 -1.23268268e+00, 1.77867710e+00, 1.86657824e+00,-5.58081325e+00,
 -2.04789309e+00,-5.53007508e-01, 5.67680006e-01, 1.57868572e+01,
 -2.50632537e+01,-2.48292310e-01]

qfrc_actuator:
[-2.34684958e-03, 3.48868718e-01, 6.48986847e-02, 8.02133453e-03,
 -6.55999490e-03, 2.39274937e-01, 3.63024416e-02, 7.67056088e-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([ 0.53849337, -0.51096279,  0.16997689, -0.51096279,  0.51868295,
       -0.05955156,  0.16997689, -0.05955156,  0.35947709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003311983338419012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99752309e-01,  4.40207005e-03, -2.18160881e-02,  4.40102234e-03,
        9.99990311e-01,  9.60368787e-05,  2.18162995e-02,  0.00000000e+00,
       -9.99761996e-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([ 0.12288034, -0.03743938,  0.12681949])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.49093376, -0.36085379,  0.33286708, -0.36085379,  0.3184259 ,
       -0.18701192,  0.33286708, -0.18701192,  0.2881983 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017830803949770327
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94979569,  0.31214986, -0.02122751,  0.31207193,  0.95003287,
        0.00697467,  0.02234397,  0.        , -0.99975034])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11368185, -0.06626527,  0.1270888 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.25394901, -0.18019433,  0.17894161, -0.18019433,  0.18031519,
       -0.07414931,  0.17894161, -0.07414931,  0.17928059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042492372723679613
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45721279e-01,  3.24978327e-01,  5.91693523e-04,  3.24978263e-01,
        9.45721464e-01, -2.03323683e-04, -6.25653055e-04,  2.71050543e-20,
       -9.99999804e-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([ 0.11051591, -0.07611657,  0.11294171])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005097224354261576
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08904665e-13,  1.08904665e-13,  1.00000000e+00, -1.18602261e-26,
        1.00000000e+00, -1.08904665e-13, -1.00000000e+00,  0.00000000e+00,
        1.08904665e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429226, -0.08626717,  0.06198438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04193655e-02, 2.35737415e-01, 1.17779889e-01, 3.06626663e-02,
 -3.13478474e-02, 1.73728566e-01, 8.71774822e-02, 2.34751872e-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,
  5.88293677e-04,-1.00350993e-03,-4.90535798e+00,-7.86937154e-03,
 -7.62327760e-04, 1.41428094e-04]


--- Step 1794 ---
qpos:
[ 0.00284059, 0.11339898,-0.08175582,-0.00692714, 0.00314151, 0.18501849,
 -0.05683308,-0.00355473,-0.00429987, 0.28649488,-0.01146576,-0.01961562,
  1.37649778, 0.01887958, 1.35059644, 0.02435864, 0.09239575,-0.06923479,
  0.13107888, 0.98627321, 0.00663002,-0.01294471,-0.16447991]

qacc:
[ 9.81626414e+01,-3.25189647e+01, 4.55197144e+01, 1.78207673e+02,
 -3.53777464e+01,-1.37514377e+00, 1.13039073e+02,-2.51328621e+02,
  1.34751303e-03,-1.51457475e+00,-8.85472505e-01, 1.78722328e+01,
 -5.48995469e-01, 5.81517757e-01, 9.69096430e+00,-3.28997613e+01,
 -2.02385440e+00,-5.14383649e-01, 5.32869503e-01, 1.50348829e+01,
 -2.48542224e+01, 1.58979713e-01]

qfrc_actuator:
[-2.39513602e-03, 3.48948237e-01, 6.58775449e-02, 8.44114366e-03,
 -7.10463043e-03, 2.41030993e-01, 3.73786771e-02, 8.02283261e-03,
 -2.97613461e-04, 2.19378810e-01, 1.31932716e-03, 3.07601464e-04,
  7.85139795e-04,-1.46138342e-03, 0.00000000e+00,-1.31070293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.51108334, -0.48219267,  0.16940015, -0.48219267,  0.49263806,
       -0.05250398,  0.16940015, -0.05250398,  0.36163226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025768549082967287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99721750e-01,  4.68726283e-03, -2.31182341e-02,  4.68601007e-03,
        9.99989015e-01,  1.08362430e-04,  2.31184881e-02,  2.71050543e-20,
       -9.99732732e-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([ 0.12268869, -0.03722248,  0.12684569])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.47563825, -0.35269276,  0.31912312, -0.35269276,  0.30971483,
       -0.18337746,  0.31912312, -0.18337746,  0.27297069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.132007199407792e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50798079e-01,  3.08995558e-01, -2.24668318e-02,  3.08909330e-01,
        9.51063481e-01,  7.29935630e-03,  2.36228519e-02,  8.67361738e-19,
       -9.99720941e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([20, 43], dtype=int32)
  geom1: 20
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1135789 , -0.06620457,  0.12707758])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.23808288, -0.17335188,  0.16319493, -0.17335188,  0.17645891,
       -0.06545934,  0.16319493, -0.06545934,  0.16854948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036152297047020824
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46754658e-01,  3.21947031e-01, -2.39298573e-03,  3.21946003e-01,
        9.46757682e-01,  8.13740057e-04,  2.52755882e-03,  0.00000000e+00,
       -9.99996806e-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([ 0.11040835, -0.07613507,  0.11291924])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005051967581202327
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.29640781e-13,  1.09880260e-13,  1.00000000e+00, -3.62210147e-26,
        1.00000000e+00, -1.09880260e-13, -1.00000000e+00,  0.00000000e+00,
        3.29640781e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429097, -0.08626767,  0.06198453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11925516e-02, 2.36498792e-01, 1.18236824e-01, 3.04955003e-02,
 -3.15223002e-02, 1.72896894e-01, 8.73747545e-02, 2.40896091e-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,
  6.82386200e-04,-1.29989472e-03,-4.90551489e+00,-7.90063070e-03,
 -7.48520913e-04, 1.43552817e-04]


--- Step 1795 ---
qpos:
[ 0.00304155, 0.11558569,-0.08276407,-0.00734002, 0.0033611 , 0.18648655,
 -0.05780503,-0.00398427,-0.00428843, 0.29068212,-0.01149761,-0.01961875,
  1.37658118, 0.0188779 , 1.35069438, 0.02435287, 0.09223517,-0.06917741,
  0.13111135, 0.98653463, 0.00680035,-0.01367173,-0.16283813]

qacc:
[ 1.04164902e+02,-3.50558366e+01, 7.05479546e+01, 1.29463157e+02,
 -1.00485395e+03,-7.06694758e+01, 1.01271201e+03,-2.92257453e+03,
  5.90865009e-01,-8.33249810e+00, 1.76502302e+01,-8.31058877e-01,
 -1.80490570e-01, 9.96596448e-02, 2.22868621e-01,-1.18681452e+00,
 -1.49560624e+00,-3.47008629e-01, 3.56411754e-01, 1.00610609e+01,
 -1.85434343e+01,-5.99170588e-02]

qfrc_actuator:
[-2.43597067e-03, 3.48959206e-01, 6.69009962e-02, 8.87270632e-03,
 -7.58209995e-03, 2.42675819e-01, 3.84158943e-02, 8.33328752e-03,
 -2.93830397e-04, 2.19095799e-01, 1.36818456e-03, 3.46369130e-04,
  7.67362634e-04,-1.46864932e-03, 0.00000000e+00,-1.31290260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4907366 , -0.46106684,  0.16804698, -0.46106684,  0.47403599,
       -0.04582111,  0.16804698, -0.04582111,  0.36501823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001773201829382853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99686523e-01,  4.99694544e-03, -2.45333660e-02,  4.99544138e-03,
        9.99987515e-01,  1.22593422e-04,  2.45336723e-02,  0.00000000e+00,
       -9.99699004e-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([ 0.12249432, -0.03700191,  0.12687145])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.22642757, -0.15147049,  0.1683037 , -0.15147049,  0.11969838,
       -0.09605447,  0.1683037 , -0.09605447,  0.13998016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000300039396304522
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47768277e-01,  3.18913627e-01, -5.42146018e-03,  3.18908410e-01,
        9.47783783e-01,  1.82423202e-03,  5.72014448e-03, -2.16840434e-19,
       -9.99983640e-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([ 0.11029482, -0.07615406,  0.11289722])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005008399680094949
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10836105e-13,  2.21672210e-13,  1.00000000e+00, -2.45692843e-26,
        1.00000000e+00, -2.21672210e-13, -1.00000000e+00,  0.00000000e+00,
        1.10836105e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428974, -0.08626802,  0.06198467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19684039e-02, 2.36670235e-01, 1.18229501e-01, 3.01942301e-02,
 -3.15468072e-02, 1.72149069e-01, 8.74189619e-02, 2.46073930e-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,
  7.74254144e-04,-1.59025632e-03,-4.90568970e+00,-7.93354475e-03,
 -7.30541247e-04, 1.45971797e-04]


--- Step 1796 ---
qpos:
[ 0.00325785, 0.11778823,-0.08374339,-0.00773752, 0.00359111, 0.18805798,
 -0.05873894,-0.00441591,-0.00427678, 0.29486229,-0.01152777,-0.01962189,
  1.37666391, 0.01887759, 1.35079187, 0.02434977, 0.09206846,-0.06912155,
  0.13114528, 0.98679127, 0.00698413,-0.01444103,-0.16120069]

qacc:
[ 101.07195433, -27.86028306,  64.79718133, 143.45473562,  39.79263897,
   25.98161428, 114.33753887,-287.31407542,   0.44638661, -14.10981355,
   36.74952498, -34.28470789,  -1.08870861,   1.81077336,  -8.60555146,
   29.45436723,  -1.53460637,  -0.37991675,   0.36312411,  10.06688615,
  -19.80546691,  -2.4846992 ]

qfrc_actuator:
[-2.46147560e-03, 3.49261515e-01, 6.79395439e-02, 9.35949001e-03,
 -7.80071902e-03, 2.44070318e-01, 3.94051306e-02, 8.73318576e-03,
 -2.96309074e-04, 2.18656073e-01, 1.40922454e-03, 3.34807093e-04,
  7.64359615e-04,-1.36579878e-03, 0.00000000e+00,-1.16979095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.47824138, -0.44785709,  0.16774636, -0.44785709,  0.4629588 ,
       -0.04080213,  0.16774636, -0.04080213,  0.36930593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.297972932246661e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99646929e-01,  5.32951446e-03, -2.60309989e-02,  5.32770843e-03,
        9.99985798e-01,  1.38734556e-04,  2.60313686e-02, -2.71050543e-20,
       -9.99661127e-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([ 0.12229705, -0.03677923,  0.12689734])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.21956589, -0.15736408,  0.15311998, -0.15736408,  0.21654731,
       -0.00310225,  0.15311998, -0.00310225,  0.21637765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002534698255754603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94875681,  0.31590227, -0.00814121,  0.31589064,  0.94879173,
        0.00271064,  0.00858061,  0.        , -0.99996319])
  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([ 0.1101665 , -0.07617949,  0.11288208])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004965866552685966
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11785427e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.11785427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428855, -0.08626824,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27821744e-02, 2.36800377e-01, 1.18061304e-01, 2.99861302e-02,
 -1.87859561e-02, 1.64681883e-01, 8.65802426e-02, 2.99704532e-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,
  8.34719257e-04,-1.80208600e-03,-4.90582994e+00,-7.96297539e-03,
 -7.02541198e-04, 1.50882076e-04]


--- Step 1797 ---
qpos:
[ 0.00348812, 0.12001528,-0.08469056,-0.0081188 , 0.00384093, 0.18970451,
 -0.05963727,-0.0048445 ,-0.00426499, 0.29903319,-0.0115566 ,-0.01962637,
  1.37674635, 0.0188782 , 1.35088938, 0.02434736, 0.09189552,-0.06906721,
  0.13118064, 0.98704263, 0.00718071,-0.01525395,-0.15957003]

qacc:
[  90.93740816, -23.74132904,  63.29488468, 147.66277154,  75.43515935,
    6.11852963, 109.19265663,-168.40051861,   0.29886132, -18.74502091,
   54.76766851, -73.48999113,  -0.73915032,   1.26166239,  -2.00986521,
    7.28566064,  -1.55522866,  -0.3819692 ,   0.3580703 ,   9.79910007,
  -20.55484007,  -3.7072235 ]

qfrc_actuator:
[-2.53700420e-03, 3.49528775e-01, 6.89370530e-02, 9.80132538e-03,
 -7.92363097e-03, 2.45246080e-01, 4.03671630e-02, 9.16479032e-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([ 0.47367498, -0.44168603,  0.1711182 , -0.44168603,  0.45757014,
       -0.04156943,  0.1711182 , -0.04156943,  0.36637702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.624066476118642e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99602447e-01,  5.68507022e-03, -2.76157052e-02,  5.68290194e-03,
        9.99983840e-01,  1.56999761e-04,  2.76161515e-02,  0.00000000e+00,
       -9.99618601e-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([ 0.12209559, -0.03655632,  0.12692391])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.21530152, -0.16265122,  0.14106497, -0.16265122,  0.2391562 ,
        0.02750501,  0.14106497,  0.02750501,  0.24701544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002178952652329076
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94949395,  0.3136026 , -0.01070762,  0.31358266,  0.94955432,
        0.00353633,  0.01127647,  0.        , -0.99993642])
  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([ 0.11003049, -0.07619766,  0.11287109])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004924412169994563
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12726452e-13,  1.12726452e-13,  1.00000000e+00, -1.27072530e-26,
        1.00000000e+00, -1.12726452e-13, -1.00000000e+00,  0.00000000e+00,
        1.12726452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428739, -0.08626834,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36314816e-02, 2.36208049e-01, 1.17599543e-01, 2.96567136e-02,
 -1.94308678e-02, 1.60645213e-01, 8.56341026e-02, 3.05064652e-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,
  8.91490980e-04,-2.02575238e-03,-4.90599243e+00,-7.99372272e-03,
 -6.71375759e-04, 1.55863774e-04]


--- Step 1798 ---
qpos:
[ 0.00343855, 0.12380524,-0.08457641,-0.00820821, 0.00411592, 0.19140579,
 -0.06050968,-0.00527481,-0.00425341, 0.30319084,-0.01158379,-0.01963142,
  1.37682864, 0.01887983, 1.35098698, 0.0243447 , 0.09172639,-0.06900668,
  0.13121388, 0.98728392, 0.00731501,-0.01605983,-0.15798431]

qacc:
[-1.78885533e+03,-2.82208157e+02, 2.78719776e+03,-6.01361555e+02,
  9.51026201e+01,-3.65044252e+00, 1.25055699e+02,-2.36347186e+02,
 -3.48650522e-01,-2.32502447e+01, 5.98450844e+01,-6.24052209e+01,
 -7.48100400e-01, 1.37551982e+00, 1.01913612e+00,-3.12545205e+00,
  9.51496165e-01, 1.54750160e+00,-5.28637870e-01,-3.16031455e+01,
 -1.73391224e+00,-2.25326597e+01]

qfrc_actuator:
[-2.68280502e-03, 3.49280678e-01, 6.98773745e-02, 1.02092096e-02,
 -8.00267375e-03, 2.46206507e-01, 4.12646137e-02, 9.62886508e-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([ 0.21253511, -0.17051451,  0.12686991, -0.17051451,  0.2298984 ,
        0.02333645,  0.12686991,  0.02333645,  0.24389954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019045975770096206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95044833,  0.31060656, -0.01309714,  0.31057707,  0.95053857,
        0.00427974,  0.01377865,  0.        , -0.99990507])
  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([ 0.10988341, -0.0762247 ,  0.11286404])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004884026202457981
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13658586e-13,  2.27317172e-13,  1.00000000e+00, -2.58365484e-26,
        1.00000000e+00, -2.27317172e-13, -1.00000000e+00,  0.00000000e+00,
        1.13658586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428627, -0.08626831,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44818830e-02, 2.34665421e-01, 1.16917687e-01, 2.92518564e-02,
 -2.05014626e-02, 1.57803304e-01, 8.47451786e-02, 3.08174659e-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,
  9.44624886e-04,-2.25365975e-03,-4.90617336e+00,-8.02560640e-03,
 -6.36759697e-04, 1.61088419e-04]


--- Step 1799 ---
qpos:
[ 0.00347006, 0.12772052,-0.08463366,-0.0083542 , 0.00440859, 0.1931508 ,
 -0.0613588 ,-0.00570588,-0.00424322, 0.30733233,-0.0116095 ,-0.01963535,
  1.3769108 , 0.01888354, 1.35108463, 0.02434154, 0.09155406,-0.06894311,
  0.13124681, 0.9875244 , 0.00743115,-0.01688622,-0.15638156]

qacc:
[ 5.02197184e+02, 5.20061451e+02,-1.38142260e+03, 5.93135866e+02,
  6.62507144e+01,-8.77369589e+00, 1.18275461e+02,-2.00790848e+02,
 -2.44516309e+00,-2.31885086e+01, 4.70085875e+01,-1.81860940e+01,
 -1.39633453e+00, 2.70864673e+00, 1.75719583e+00,-5.59638102e+00,
 -8.01332285e-01, 7.62669966e-01,-7.88755931e-02,-7.20221082e+00,
 -1.14960132e+01, 8.56154599e+00]

qfrc_actuator:
[-2.60030869e-03, 3.47370438e-01, 6.97768772e-02, 1.03323308e-02,
 -8.13969321e-03, 2.46974791e-01, 4.20654814e-02, 1.00449617e-02,
 -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([ 0.4758294 ,  0.4194056 ,  0.22474999,  0.4194056 ,  0.5127106 ,
       -0.06882395,  0.22474999, -0.06882395,  0.60426166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.419112444858968e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99502569e-01,  6.15608208e-03, -3.09308610e-02,  6.15313645e-03,
        9.99981051e-01,  1.90416527e-04,  3.09314471e-02,  0.00000000e+00,
       -9.99521508e-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([ 0.12151364, -0.0362924 ,  0.12705338])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.21094372, -0.17745046,  0.1140552 , -0.17745046,  0.21285554,
        0.00297446,  0.1140552 ,  0.00297446,  0.21557147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017236562628732388
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51384252e-01,  3.07637311e-01, -1.50761567e-02,  3.07598692e-01,
        9.51503697e-01,  4.87437759e-03,  1.58445592e-02, -8.67361738e-19,
       -9.99874467e-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([ 0.10973222, -0.07625218,  0.11286333])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004835200089173264
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14806317e-13,  2.29612633e-13,  1.00000000e+00, -2.63609807e-26,
        1.00000000e+00, -2.29612633e-13, -1.00000000e+00,  0.00000000e+00,
        1.14806317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428501, -0.08626837,  0.06198522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11415857e-04, 1.54465295e-01, 6.37202522e-02, 1.47766825e-02,
 -2.18983956e-02, 1.55784840e-01, 8.42414730e-02, 3.13187965e-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,
  5.73357719e-04,-2.17080811e-03,-4.90611093e+00,-8.03460850e-03,
 -5.34097476e-04, 1.85190957e-04]


--- Step 1800 ---
qpos:
[ 0.00357832, 0.13150468,-0.08478086,-0.00851733, 0.00471399, 0.19492672,
 -0.0621892 ,-0.00613706,-0.00423399, 0.31145867,-0.01163554,-0.01963885,
  1.37699379, 0.01888719, 1.35118221, 0.02433808, 0.09137745,-0.06887787,
  0.13127981, 0.98776184, 0.00753726,-0.01774255,-0.15477384]

qacc:
[ 4.68294014e+02, 4.05449500e+01,-3.26145678e+02, 2.72726092e+02,
  4.72792957e+01,-1.15991093e+01, 1.01021831e+02,-1.55447233e+02,
 -1.67697716e+00,-1.82206653e+01, 3.41123206e+01,-1.50799868e+01,
  6.94364860e-01,-5.54092536e-01, 7.33764853e-01,-2.87859853e+00,
 -1.06754211e+00, 4.15646366e-01, 1.96389161e-02,-2.56445302e+00,
 -1.55829431e+01, 2.41372434e+00]

qfrc_actuator:
[-2.66531809e-03, 3.46145232e-01, 6.98245618e-02, 1.04807988e-02,
 -8.29632580e-03, 2.47670156e-01, 4.28894344e-02, 1.04320016e-02,
 -4.78239133e-04, 2.15847363e-01, 1.52670295e-03, 2.91318807e-04,
  8.16751926e-04,-1.16222140e-03, 0.00000000e+00,-1.19302722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020823429076218165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99448191e-01,  6.33411778e-03, -3.26066472e-02,  6.33074956e-03,
        9.99979939e-01,  2.06538487e-04,  3.26073013e-02,  2.71050543e-20,
       -9.99468241e-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([ 0.12113438, -0.03624754,  0.1271565 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 2.09868122e-01, -1.81743305e-01,  1.04947606e-01, -1.81743305e-01,
        2.09775785e-01, -1.59905520e-04,  1.04947606e-01, -1.59905520e-04,
        2.09591206e-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: -0.0001588137180291801
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52315089e-01,  3.04642803e-01, -1.69921761e-02,  3.04594320e-01,
        9.52466673e-01,  5.43488218e-03,  1.78401791e-02, -8.67361738e-19,
       -9.99840851e-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([ 0.10957596, -0.07628009,  0.11286458])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004785315163166465
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16003125e-13,  1.16003125e-13,  1.00000000e+00, -1.34567250e-26,
        1.00000000e+00, -1.16003125e-13, -1.00000000e+00,  0.00000000e+00,
        1.16003125e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428377, -0.08626841,  0.06198538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.54683762e-03, 1.46836793e-01, 7.22942854e-02, 1.77464484e-02,
 -2.29402389e-02, 1.54241916e-01, 8.38921052e-02, 3.17430039e-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,
  4.76664019e-04,-2.26266404e-03,-4.90616613e+00,-8.05844292e-03,
 -4.74988014e-04, 1.98965673e-04]


--- Step 1801 ---
qpos:
[ 0.00375873, 0.13513902,-0.08499875,-0.00868903, 0.00502848, 0.19672975,
 -0.06300571,-0.00656802,-0.00422474, 0.31557707,-0.01166581,-0.01964316,
  1.37707802, 0.01888887, 1.35127945, 0.02433647, 0.09119619,-0.06881208,
  0.13131314, 0.98799311, 0.00763729,-0.01863574,-0.1531796 ]

qacc:
[ 4.30348097e+02,-1.94835614e+01,-1.83482854e+02, 2.60251763e+02,
  3.34181515e+01,-2.50458027e+00, 5.99667721e+01,-9.83884899e+01,
  5.91307634e-02,-3.10538463e-01,-1.07119232e+01, 9.36528744e+00,
  2.35110727e+00,-3.36646250e+00,-6.37697166e+00, 2.09042631e+01,
 -1.16367705e+00, 1.38198619e-01, 7.98611699e-02,-2.40410334e-01,
 -1.87746034e+01,-6.94399347e+00]

qfrc_actuator:
[-2.75817698e-03, 3.45998910e-01, 6.99305147e-02, 1.06631664e-02,
 -8.50234898e-03, 2.48938443e-01, 4.37402360e-02, 1.08190043e-02,
 -4.80659173e-04, 2.16031059e-01, 1.52050689e-03, 2.92287918e-04,
  8.32418382e-04,-1.31311656e-03, 0.00000000e+00,-1.09333572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.53750586, -0.06523649,  0.53353233, -0.06523649,  4.08651073,
        0.43394674,  0.53353233,  0.43394674,  0.59056574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032894151809292053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99388509e-01,  6.59403186e-03, -3.43384177e-02,  6.59014294e-03,
        9.99978259e-01,  2.26433543e-04,  3.43391643e-02,  2.71050543e-20,
       -9.99410237e-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([ 0.1207682 , -0.03618371,  0.1272544 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20903715, -0.18488263,  0.09754457, -0.18488263,  0.20919049,
        0.00029065,  0.09754457,  0.00029065,  0.20958803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014739703508950935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95323328,  0.30164314, -0.01891374,  0.30158378,  0.9534209 ,
        0.00598393,  0.01983777,  0.        , -0.99980321])
  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([ 0.10941575, -0.076308  ,  0.11286672])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004736223695437358
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.34411019e-13,  1.17205510e-13,  1.00000000e+00, -2.74742630e-26,
        1.00000000e+00, -1.17205510e-13, -1.00000000e+00,  0.00000000e+00,
        2.34411019e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0742826 , -0.08626838,  0.06198554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.49341402e-03, 1.53112612e-01, 7.68539447e-02, 1.87775120e-02,
 -2.37834556e-02, 1.53911851e-01, 8.37968363e-02, 3.21340027e-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,
  4.14490652e-04,-2.40635644e-03,-4.90627755e+00,-8.08284911e-03,
 -4.19367506e-04, 2.10943776e-04]


--- Step 1802 ---
qpos:
[ 0.00398836, 0.13862048,-0.08528673,-0.00887036, 0.0053507 , 0.19855792,
 -0.06381169,-0.00699808,-0.00421535, 0.31969109,-0.01169953,-0.01964848,
  1.37716277, 0.0188892 , 1.35137647, 0.02433738, 0.09100981,-0.0687464 ,
  0.13134697, 0.9882168 , 0.00773454,-0.01957079,-0.15160713]

qacc:
[ 2.87061153e+02,-2.70329326e+01,-1.57443122e+02, 2.16638652e+02,
  2.81206556e+01, 5.62650388e+00, 2.42442016e+01,-4.37808652e+01,
  2.08708753e-01, 1.76160162e+00,-1.04400847e+01, 1.79392534e+00,
  1.45746440e+00,-2.22827752e+00,-8.16409877e+00, 2.76393489e+01,
 -1.28122730e+00,-2.88149904e-02, 1.25815576e-01, 1.65360290e+00,
 -2.10476514e+01,-1.11473379e+01]

qfrc_actuator:
[-2.92934099e-03, 3.46056249e-01, 7.01414132e-02, 1.08286607e-02,
 -8.73945791e-03, 2.50470914e-01, 4.45867452e-02, 1.12767217e-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([ 0.59060128, -0.5366564 ,  0.2465964 , -0.5366564 ,  0.60753529,
        0.03685271,  0.2465964 ,  0.03685271,  0.67080213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042639891231008846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99322654e-01,  6.93247823e-03, -3.61410212e-02,  6.92794903e-03,
        9.99975970e-01,  2.50552863e-04,  3.61418897e-02,  0.00000000e+00,
       -9.99346668e-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([ 0.12041592, -0.0361029 ,  0.12734672])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20837244, -0.18768782,  0.09051164, -0.18768782,  0.2095921 ,
        0.00252911,  0.09051164,  0.00252911,  0.21361688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013751866244088382
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54108838e-01,  2.98732077e-01, -2.08679441e-02,  2.98660650e-01,
        9.54337019e-01,  6.53220420e-03,  2.18664305e-02, -8.67361738e-19,
       -9.99760901e-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([ 0.10925251, -0.07633478,  0.11286932])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00046888683025630984
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.36778462e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.36778462e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0742815 , -0.08626826,  0.06198569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22867740e-02, 1.60533498e-01, 8.05583382e-02, 1.93640317e-02,
 -2.44756390e-02, 1.54035142e-01, 8.39388174e-02, 3.25799145e-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,
  3.64767056e-04,-2.58137394e-03,-4.90644030e+00,-8.10622838e-03,
 -3.62833878e-04, 2.22150658e-04]


--- Step 1803 ---
qpos:
[ 0.00424256, 0.14194948,-0.08564676,-0.00906391, 0.00567819, 0.20040325,
 -0.06460801,-0.00742629,-0.00420525, 0.32379482,-0.01173151,-0.01965405,
  1.3772475 , 0.01888871, 1.3514733 , 0.02434153, 0.09081771,-0.06868114,
  0.13138144, 0.988433  , 0.00783195,-0.0205511 ,-0.15005503]

qacc:
[ 1.40276676e+02,-2.60496222e+01,-1.48790976e+02, 1.65614693e+02,
  1.90346135e+01,-4.76074406e-01, 2.68055392e+01,-2.29443121e+01,
  1.24210860e+00,-1.89957308e+01, 4.90874069e+01,-4.87844717e+01,
  7.43557840e-01,-1.29133994e+00,-1.01657446e+01, 3.49160979e+01,
 -1.42805253e+00,-1.03467960e-01, 1.60954754e-01, 3.34471152e+00,
 -2.25034298e+01,-1.04573271e+01]

qfrc_actuator:
[-3.24218917e-03, 3.46440786e-01, 7.04251942e-02, 1.10240201e-02,
 -9.06850434e-03, 2.51638194e-01, 4.54284723e-02, 1.17228295e-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([ 0.64932533, -0.5897081 ,  0.2717862 , -0.5897081 ,  0.5973927 ,
       -0.11268083,  0.2717862 , -0.11268083,  0.40483609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005002637763880809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99249907e-01,  7.32740626e-03, -3.80254272e-02,  7.32210659e-03,
        9.99973154e-01,  2.78635233e-04,  3.80264480e-02,  0.00000000e+00,
       -9.99276733e-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([ 0.12007789, -0.0360057 ,  0.12743313])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20781746, -0.18922577,  0.08591685, -0.18922577,  0.20842387,
        0.00133558,  0.08591685,  0.00133558,  0.21075898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001286429518139597
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54972495e-01,  2.95810793e-01, -2.28803169e-02,  2.95725926e-01,
        9.55246552e-01,  7.08533798e-03,  2.39522632e-02, -8.67361738e-19,
       -9.99713103e-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([ 0.10908608, -0.07636155,  0.11287203])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004643828674668199
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19537466e-13, -1.19537466e-13,  1.00000000e+00,  1.42892058e-26,
        1.00000000e+00,  1.19537466e-13, -1.00000000e+00,  0.00000000e+00,
        1.19537466e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0742805 , -0.08626805,  0.06198583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50738827e-02, 1.68440341e-01, 8.43077239e-02, 2.00336380e-02,
 -2.51917300e-02, 1.53890558e-01, 8.42429402e-02, 3.29793510e-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,
  3.30631194e-04,-2.77549306e-03,-4.90664378e+00,-8.12950932e-03,
 -3.05569133e-04, 2.32846236e-04]


--- Step 1804 ---
qpos:
[ 0.00451702, 0.14514263,-0.08606899,-0.00926667, 0.00600823, 0.20226144,
 -0.06539576,-0.00785207,-0.00419432, 0.32788182,-0.01176035,-0.01965895,
  1.37733182, 0.01888756, 1.35157025, 0.02434731, 0.09061945,-0.06861646,
  0.13141665, 0.98864189, 0.00793156,-0.02157919,-0.1485215 ]

qacc:
[ 1.13221526e+02,-2.53397127e+01,-1.31963377e+02, 1.72530980e+02,
  9.13064642e+00,-1.90911546e+00, 2.12487237e+01,-2.42415536e+00,
  1.43492014e+00,-2.94984516e+01, 7.02468969e+01,-5.13073991e+01,
  1.96022282e-01,-7.21099632e-01,-4.80425481e+00, 1.69445523e+01,
 -1.54276338e+00,-1.47108348e-01, 1.83782340e-01, 4.50377375e+00,
 -2.35978178e+01,-9.56656204e+00]

qfrc_actuator:
[-3.58183081e-03, 3.47064628e-01, 7.07649574e-02, 1.12259820e-02,
 -9.47110278e-03, 2.52655292e-01, 4.61929885e-02, 1.21429202e-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([ 0.6961598 , -0.63114052,  0.29376881, -0.63114052,  0.6328381 ,
       -0.13604197,  0.29376881, -0.13604197,  0.40388371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005496196068661892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99169614e-01,  7.75474860e-03, -3.99993338e-02,  7.74854215e-03,
        9.99969931e-01,  3.10194105e-04,  4.00005366e-02,  0.00000000e+00,
       -9.99199658e-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([ 0.11975414, -0.03589125,  0.12751332])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20728413, -0.19037366,  0.08200352, -0.19037366,  0.20709579,
       -0.00043722,  0.08200352, -0.00043722,  0.2062691 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011944903274013318
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95580758,  0.29292909, -0.02498824,  0.29282903,  0.95613417,
        0.0076556 ,  0.02613466,  0.        , -0.99965843])
  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([ 0.10891715, -0.07638762,  0.11287423])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00046014252298844094
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41278076e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.41278076e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427958, -0.08626773,  0.06198597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66533297e-02, 1.76572149e-01, 8.82143390e-02, 2.08396178e-02,
 -2.58585074e-02, 1.53993972e-01, 8.45136768e-02, 3.33059231e-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,
  3.15373565e-04,-2.98266931e-03,-4.90687717e+00,-8.15387005e-03,
 -2.48071987e-04, 2.43159118e-04]


--- Step 1805 ---
qpos:
[ 0.00480994, 0.14821227,-0.08654018,-0.00947463, 0.00634013, 0.20412956,
 -0.06617471,-0.00827445,-0.00418283, 0.33195312,-0.01178922,-0.01966382,
  1.37741542, 0.0188864 , 1.35166749, 0.02435266, 0.09041464,-0.06855241,
  0.13145262, 0.98884381, 0.0080345 ,-0.02265671,-0.1470035 ]

qacc:
[ 1.01357550e+02,-3.74637075e+01,-8.17927273e+01, 1.61235764e+02,
  6.63353952e+00,-4.37850378e+00, 2.02783664e+01, 1.73502312e+01,
  9.42419213e-01,-2.05810492e+01, 4.31359244e+01,-3.09552224e+01,
 -6.30163884e-01, 4.72951780e-01, 1.75550746e+00,-5.37431992e+00,
 -1.63458071e+00,-1.54618518e-01, 1.91882852e-01, 5.18087602e+00,
 -2.43242848e+01,-8.03170124e+00]

qfrc_actuator:
[-3.90754594e-03, 3.47148567e-01, 7.11927734e-02, 1.13805331e-02,
 -9.86396017e-03, 2.53526453e-01, 4.69439011e-02, 1.25815836e-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([ 0.72184917, -0.65086741,  0.31215035, -0.65086741,  0.65078251,
       -0.14818173,  0.31215035, -0.14818173,  0.41287415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005762910891221199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99080998e-01,  8.21064003e-03, -4.20683406e-02,  8.20337095e-03,
        9.99966292e-01,  3.45419644e-04,  4.20697587e-02, -5.42101086e-20,
       -9.99114676e-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([ 0.11944274, -0.0357608 ,  0.12758787])
  solimp: array([9.0e-01, 9.5e-01, 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([ 2.06732298e-01, -1.91304188e-01,  7.83642176e-02, -1.91304188e-01,
        2.06710240e-01, -5.38474217e-05,  7.83642176e-02, -5.38474217e-05,
        2.06600844e-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: -0.00010907268738766373
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56614501e-01,  2.90082541e-01, -2.72179302e-02,  2.89965196e-01,
        9.57001630e-01,  8.25019111e-03,  2.84408399e-02,  1.73472348e-18,
       -9.99595477e-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([ 0.10874594, -0.07641299,  0.11287552])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004561790390892745
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.21687203e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.21687203e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427876, -0.08626731,  0.0619861 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80017237e-02, 1.83338796e-01, 9.17183429e-02, 2.14487276e-02,
 -2.63792120e-02, 1.54165523e-01, 8.48244852e-02, 3.36217616e-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,
  3.14318076e-04,-3.19832353e-03,-4.90713782e+00,-8.17928142e-03,
 -1.89403804e-04, 2.53314349e-04]


--- Step 1806 ---
qpos:
[ 0.0051197 , 0.15117271,-0.08704755,-0.00968428, 0.00667337, 0.20600697,
 -0.06694453,-0.0086926 ,-0.004171  , 0.33601538,-0.01182123,-0.01966906,
  1.37749834, 0.0188855 , 1.35176476, 0.02435801, 0.090203  ,-0.06848893,
  0.13148937, 0.98903912, 0.00814141,-0.02378485,-0.14549782]

qacc:
[ 90.78548144,-46.77316602,-35.77444359,144.81691604,  4.72759443,
  -4.48891677, 16.08397626, 35.33606254,  0.54532758, -3.96349504,
  -1.61101763,  6.75810982, -0.72101245,  0.74911234,  0.16945642,
  -0.31411425, -1.7088956 , -0.1461036 ,  0.19350721,  5.57205446,
 -24.85626585, -6.41755995]

qfrc_actuator:
[-4.23122512e-03, 3.46737540e-01, 7.16495659e-02, 1.15595711e-02,
 -1.02513063e-02, 2.54449867e-01, 4.77185024e-02, 1.30294350e-02,
 -4.10359364e-04, 2.13878320e-01, 1.64505400e-03, 2.86730484e-04,
  7.30996348e-04,-1.43532835e-03, 0.00000000e+00,-7.48583323e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.72722146, -0.65201006,  0.32207752, -0.65201006,  0.65130991,
       -0.15367448,  0.32207752, -0.15367448,  0.41612459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005818516413571209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98983279e-01,  8.69359645e-03, -4.42360591e-02,  8.68508571e-03,
        9.99962210e-01,  3.84584980e-04,  4.42377308e-02, -5.42101086e-20,
       -9.99021032e-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([ 0.11914194, -0.03561518,  0.12765736])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20615321, -0.19193293,  0.07523894, -0.19193293,  0.20623619,
        0.00021168,  0.07523894,  0.00021168,  0.20669319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.693403644993552e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57394184e-01,  2.87264686e-01, -2.95867744e-02,  2.87127612e-01,
        9.57851241e-01,  8.87323115e-03,  3.08886946e-02,  1.73472348e-18,
       -9.99522830e-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([ 0.10857253, -0.07643767,  0.11287563])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00045250026334824056
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.22676506e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.22676506e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427802, -0.08626678,  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:
[-1.92585693e-02, 1.88998778e-01, 9.45921582e-02, 2.18822648e-02,
 -2.68600320e-02, 1.54536005e-01, 8.51475020e-02, 3.38975272e-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,
  3.23537534e-04,-3.41958560e-03,-4.90742152e+00,-8.20586186e-03,
 -1.28905382e-04, 2.63546028e-04]


--- Step 1807 ---
qpos:
[ 0.00544413, 0.15404696,-0.08758171,-0.00989399, 0.00700772, 0.20789745,
 -0.06770518,-0.00910617,-0.00415957, 0.34007201,-0.01185619,-0.01967393,
  1.37758056, 0.01888469, 1.35186237, 0.02436063, 0.0899843 ,-0.06842596,
  0.13152688, 0.98922816, 0.00825247,-0.02496429,-0.14400111]

qacc:
[ 7.75658824e+01,-3.91894105e+01,-2.54962288e+01, 1.30736102e+02,
  3.88741815e+00, 1.13722613e+00, 1.68610599e+00, 5.33721328e+01,
 -6.17883821e-01, 1.54873980e+00,-1.78653673e+01, 3.30509216e+01,
 -8.56831884e-01, 7.79525551e-01, 8.84476734e+00,-3.00038749e+01,
 -1.76548179e+00,-1.23297149e-01, 1.88470767e-01, 5.69918633e+00,
 -2.51827229e+01,-4.73123238e+00]

qfrc_actuator:
[-4.57719579e-03, 3.46739219e-01, 7.21482961e-02, 1.17163615e-02,
 -1.06000582e-02, 2.55703094e-01, 4.85034646e-02, 1.34451275e-02,
 -4.48939656e-04, 2.14012723e-01, 1.65162532e-03, 3.38163403e-04,
  6.88244641e-04,-1.43807815e-03, 0.00000000e+00,-8.93182099e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71394385, -0.63648371,  0.3234259 , -0.63648371,  0.63544829,
       -0.15447478,  0.3234259 , -0.15447478,  0.4099463 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005681007862883369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98875670e-01,  9.20218945e-03, -4.65050076e-02,  9.19223237e-03,
        9.99957659e-01,  4.27966011e-04,  4.65069767e-02, -5.42101086e-20,
       -9.98917965e-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([ 0.11884988, -0.03545541,  0.12772242])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20556632, -0.19221796,  0.07286815, -0.19221796,  0.20575105,
        0.00048731,  0.07286815,  0.00048731,  0.20685179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.275811804361042e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58147516e-01,  2.84469156e-01, -3.21035401e-02,  2.84309612e-01,
        9.58685193e-01,  9.52603318e-03,  3.34870512e-02,  1.73472348e-18,
       -9.99439151e-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([ 0.10839681, -0.07646172,  0.11287446])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00044910203886022737
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23604763e-13,  2.47209527e-13,  1.00000000e+00, -3.05562750e-26,
        1.00000000e+00, -2.47209527e-13, -1.00000000e+00,  0.00000000e+00,
        1.23604763e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427736, -0.08626614,  0.06198633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04559011e-02, 1.94359516e-01, 9.68704240e-02, 2.21181307e-02,
 -2.72758546e-02, 1.55267576e-01, 8.54640147e-02, 3.41010062e-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,
  3.40566470e-04,-3.64545662e-03,-4.90772631e+00,-8.23362941e-03,
 -6.61366498e-05, 2.73997503e-04]


--- Step 1808 ---
qpos:
[ 0.00578145, 0.15685965,-0.08813416,-0.01010271, 0.00734358, 0.20980279,
 -0.0684556 ,-0.00951452,-0.00414815, 0.34412133,-0.01189137,-0.01967899,
  1.37766211, 0.0188841 , 1.35195997, 0.0243615 , 0.08975835,-0.06836335,
  0.1315651 , 0.98941129, 0.00836754,-0.02619547,-0.14250997]

qacc:
[ 6.70010861e+01,-2.82497641e+01,-2.16667845e+01, 1.13355465e+02,
  5.20295003e+00, 1.82211961e+00,-1.76188761e-03, 6.29748452e+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,
 -1.81200147e+00,-9.21648483e-02, 1.78952984e-01, 5.66704001e+00,
 -2.53963639e+01,-3.01879868e+00]

qfrc_actuator:
[-4.95884777e-03, 3.47222223e-01, 7.26950291e-02, 1.18410979e-02,
 -1.09259657e-02, 2.56969183e-01, 4.93087054e-02, 1.38572192e-02,
 -4.58671477e-04, 2.13734533e-01, 1.67131947e-03, 3.35247402e-04,
  6.59670583e-04,-1.42169960e-03, 0.00000000e+00,-9.79352346e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.68463994, -0.60693992,  0.3167898 , -0.60693992,  0.60726263,
       -0.14824777,  0.3167898 , -0.14824777,  0.40061094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005375884331469022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98757388e-01,  9.73433605e-03, -4.88766071e-02,  9.72270070e-03,
        9.99952620e-01,  4.75803862e-04,  4.88789230e-02,  5.42101086e-20,
       -9.98804711e-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([ 0.1185642 , -0.03528307,  0.12778394])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20501876, -0.19223288,  0.07126858, -0.19223288,  0.20548498,
        0.00125754,  0.07126858,  0.00125754,  0.20841071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.67870065915245e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95887552,  0.28169001, -0.03476304,  0.28150507,  0.95950547,
        0.01020568,  0.03623017,  0.        , -0.99934347])
  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([ 0.1082184 , -0.07648525,  0.11287213])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004459708986904176
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24472586e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24472586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427678, -0.08626539,  0.06198643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15794412e-02, 1.99054551e-01, 9.87290434e-02, 2.22408683e-02,
 -2.76577614e-02, 1.55822368e-01, 8.57986686e-02, 3.42822143e-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,
  3.63187761e-04,-3.87514759e-03,-4.90804954e+00,-8.26257188e-03,
 -7.35960912e-07, 2.84824165e-04]


--- Step 1809 ---
qpos:
[ 0.00613024, 0.15962835,-0.08869456,-0.01030837, 0.00768062, 0.21172064,
 -0.06919415,-0.00991681,-0.00413701, 0.34815755,-0.01192356,-0.01968473,
  1.37774344, 0.0188831 , 1.35205728, 0.02436264, 0.08952497,-0.06830102,
  0.13160401, 0.98958867, 0.00848662,-0.02747895,-0.14102182]

qacc:
[ 5.85730510e+01,-2.95304662e+01, 7.93674123e+00, 9.00786663e+01,
  4.07712224e+00,-4.04428881e+00, 1.28618286e+01, 6.39102720e+01,
 -3.61914621e-01,-2.70580380e+01, 7.41787617e+01,-8.09386951e+01,
  1.21836112e-01,-4.36005012e-01,-1.27726175e+00, 3.77460192e+00,
 -1.85665795e+00,-7.17929436e-02, 1.72781250e-01, 5.69041241e+00,
 -2.56779833e+01,-1.72361357e+00]

qfrc_actuator:
[-5.41927100e-03, 3.47347019e-01, 7.32372703e-02, 1.20343402e-02,
 -1.12745114e-02, 2.57845421e-01, 5.00858768e-02, 1.42646845e-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([ 0.64263877, -0.56801937,  0.30056378, -0.56801937,  0.57136296,
       -0.13470034,  0.30056378, -0.13470034,  0.38807583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000493004363670428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98627637e-01,  1.02883231e-02, -5.13516597e-02,  1.02747476e-02,
        9.99947074e-01,  5.28350430e-04,  5.13543777e-02,  0.00000000e+00,
       -9.98680493e-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([ 0.11828247, -0.03509985,  0.12784288])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20455178, -0.19209213,  0.07029966, -0.19209213,  0.20501014,
        0.00125245,  0.07029966,  0.00125245,  0.20797407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.913709348370094e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95957911,  0.27892106, -0.0375628 ,  0.27870761,  0.96031403,
        0.01091003,  0.03911512,  0.        , -0.99923471])
  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([ 0.10803704, -0.07650834,  0.11286873])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00044308884041942276
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25282215e-13,  3.75846644e-13,  1.00000000e+00, -4.70869000e-26,
        1.00000000e+00, -3.75846644e-13, -1.00000000e+00,  0.00000000e+00,
        1.25282215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427628, -0.08626453,  0.06198652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26936268e-02, 2.02162253e-01, 1.00159014e-01, 2.23799035e-02,
 -2.80820542e-02, 1.55897540e-01, 8.60517873e-02, 3.44271653e-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,
  3.90070635e-04,-4.10902215e-03,-4.90838949e+00,-8.29270658e-03,
  6.74953297e-05, 2.96131063e-04]


--- Step 1810 ---
qpos:
[ 0.00648993, 0.16237692,-0.08925454,-0.0105097 , 0.00801624, 0.21365522,
 -0.06992161,-0.01031339,-0.00412695, 0.35218037,-0.01195468,-0.01969   ,
  1.37782442, 0.01888223, 1.35215449, 0.02436364, 0.08928402,-0.06823891,
  0.13164358, 0.98976042, 0.00860955,-0.0288152 ,-0.13953449]

qacc:
[ 5.46581602e+01,-1.87556083e+01, 9.98254386e+00, 7.89612043e+01,
 -4.75543300e+00, 2.95644831e+00,-2.42967817e+00, 7.09380180e+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,
 -1.89324879e+00,-5.17281082e-02, 1.66712668e-01, 5.64152932e+00,
 -2.59154650e+01,-6.31107078e-01]

qfrc_actuator:
[-5.84192200e-03, 3.47849788e-01, 7.37737847e-02, 1.22662140e-02,
 -1.16191651e-02, 2.59123244e-01, 5.08404747e-02, 1.46131761e-02,
 -5.61256390e-04, 2.12251633e-01, 1.79859825e-03, 3.06609735e-04,
  6.50248578e-04,-1.42646838e-03, 0.00000000e+00,-9.65710777e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.59749936, -0.52782787,  0.28000576, -0.52782787,  0.53507559,
       -0.11767261,  0.28000576, -0.11767261,  0.37567935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043645990647993787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98485562e-01,  1.08627903e-02, -5.39312697e-02,  1.08469793e-02,
        9.99940998e-01,  5.85878642e-04,  5.39344519e-02,  0.00000000e+00,
       -9.98544478e-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([ 0.11800276, -0.03490712,  0.12790001])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20420148, -0.19186971,  0.06988747, -0.19186971,  0.20367669,
       -0.00144077,  0.06988747, -0.00144077,  0.20024599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9565914362085605e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59824546e-01,  2.77853112e-01, -3.91725636e-02,  2.77622000e-01,
        9.60623572e-01,  1.13303681e-02,  4.07782661e-02,  3.46944695e-18,
       -9.99168221e-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([ 0.10785795, -0.07651069,  0.11288017])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004404294663119951
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52077372e-13,  1.26038686e-13,  1.00000000e+00, -3.17715008e-26,
        1.00000000e+00, -1.26038686e-13, -1.00000000e+00,  0.00000000e+00,
        2.52077372e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427585, -0.08626356,  0.06198661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36983444e-02, 2.04771420e-01, 1.01066646e-01, 2.24538980e-02,
 -2.84861618e-02, 1.56490866e-01, 8.62000910e-02, 3.44704235e-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,
  4.21755596e-04,-4.34805924e-03,-4.90874804e+00,-8.32396022e-03,
  1.38585496e-04, 3.07880086e-04]


--- Step 1811 ---
qpos:
[ 0.00690798, 0.16518288,-0.08981423,-0.01071339, 0.00835346, 0.2156135 ,
 -0.07064061,-0.01070768,-0.00411707, 0.35619435,-0.0119873 ,-0.01969518,
  1.37790498, 0.01888202, 1.35225155, 0.02436521, 0.0890392 ,-0.06817261,
  0.1316815 , 0.98992905, 0.00870327,-0.03017872,-0.13803613]

qacc:
[ 2.86097972e+02, 6.88811180e+01,-1.27004540e+02, 4.53428929e+01,
  5.26983847e+00, 1.23469661e+01,-8.32148563e+00, 1.72272826e+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,
 -9.66905683e-01, 1.04636009e+00,-4.15900182e-01,-1.23782304e+01,
 -1.55330198e+01, 5.77904954e+00]

qfrc_actuator:
[-6.06840321e-03, 3.48732843e-01, 7.43016826e-02, 1.24477697e-02,
 -1.19416013e-02, 2.60792563e-01, 5.15420694e-02, 1.49952389e-02,
 -5.73791437e-04, 2.12221963e-01, 1.86760404e-03, 3.40736535e-04,
  6.44138626e-04,-1.37821284e-03, 0.00000000e+00,-9.34339071e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.55747778, -0.45603312,  0.32064821, -0.45603312,  0.57227921,
        0.02105092,  0.32064821,  0.02105092,  0.58741688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037066922584129836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98330271e-01,  1.14572193e-02, -5.66162779e-02,  1.14388396e-02,
        9.99934364e-01,  6.48707689e-04,  5.66199942e-02,  1.08420217e-19,
       -9.98395801e-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([ 0.11772276, -0.03470681,  0.1279563 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20565753, -0.20540769, -0.01013417, -0.20540769,  0.20671918,
       -0.02151834, -0.01013417, -0.02151834,  0.64180875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.512147196737543e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72115095, -0.69174058, -0.03789824, -0.02735   , -0.0262346 ,
        0.9992816 , -0.69223788,  0.72166939,  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([ 0.11801035, -0.03276714,  0.11468632])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20401864, -0.19339084,  0.06498914, -0.19339084,  0.2020176 ,
       -0.00595456,  0.06498914, -0.00595456,  0.18629941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.260776678115528e-06
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96050714,  0.27503321, -0.04222288,  0.27476786,  0.96143473,
        0.01207851,  0.04391653,  0.        , -0.9990352 ])
  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([ 0.10767007, -0.07653377,  0.11287501])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00043795476978768233
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26750877e-13,  1.26750877e-13,  1.00000000e+00, -1.60657849e-26,
        1.00000000e+00, -1.26750877e-13, -1.00000000e+00,  0.00000000e+00,
        1.26750877e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427547, -0.08626248,  0.0619867 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44786045e-02, 2.06568082e-01, 1.01548247e-01, 2.24146513e-02,
 -2.87378488e-02, 1.57263750e-01, 8.63348203e-02, 3.45658447e-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,
  4.57716570e-04,-4.59217822e-03,-4.90912495e+00,-8.35625372e-03,
  2.12689338e-04, 3.20125670e-04]


--- Step 1812 ---
qpos:
[ 0.00739918, 0.16801407,-0.09035756,-0.01091787, 0.00815135, 0.21857176,
 -0.0705155 ,-0.01061367,-0.00410664, 0.36020022,-0.012021  ,-0.0197002 ,
  1.37798555, 0.01888181, 1.35234862, 0.02436645, 0.08879531,-0.06810052,
  0.13171689, 0.99010514, 0.00876551,-0.03151771,-0.13646099]

qacc:
[ 3.53089665e+02,-1.42885410e+01, 1.01734041e+02,-1.59099427e+02,
 -1.77393379e+03,-2.27699412e+01,-5.10404851e+01, 6.40305142e+03,
  8.27775063e-01,-7.44608968e+00, 1.03723552e+01,-1.46902040e-01,
 -8.96522319e-03, 1.10614426e-02, 9.96044929e-01,-3.46914421e+00,
  2.31189852e-01, 1.44590292e+00,-6.30177589e-01,-1.61510868e+01,
  1.04124167e+01, 3.88854208e+01]

qfrc_actuator:
[-0.00633552, 0.3493663 , 0.07485988, 0.0126751 ,-0.01225316, 0.26199077,
  0.05217453, 0.01536306,-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([ 0.52818739, -0.46060059,  0.25851307, -0.46060059,  0.57512877,
        0.08363688,  0.25851307,  0.08363688,  0.67720576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003064224561661877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98163862e-01,  1.21140023e-02, -5.93477561e-02,  1.20926467e-02,
        9.99926623e-01,  7.18991613e-04,  5.93521111e-02,  0.00000000e+00,
       -9.98237110e-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([ 0.1174367 , -0.03450308,  0.12801513])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.21156211, -0.20977134, -0.02746835, -0.20977134,  0.22154435,
       -0.07623275, -0.02746835, -0.07623275,  0.79373936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017964288319925016
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72653169, -0.68579832, -0.04280616, -0.03112857, -0.02938333,
        0.9990834 , -0.6864275 ,  0.72719824,  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([ 0.11766646, -0.03267709,  0.11466382])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004359626630350555
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.54660116e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.54660116e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427521, -0.08626124,  0.06198676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76754624e-02, 2.04238056e-01, 1.02066978e-01, 2.27556831e-02,
 -2.91297169e-02, 1.57216677e-01, 8.65304625e-02, 3.48168303e-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,
  3.13793337e-04,-4.72496018e-03,-4.90929500e+00,-8.38324962e-03,
  3.12233474e-04, 3.46236235e-04]


--- Step 1813 ---
qpos:
[ 0.00796449, 0.17088482,-0.0908793 ,-0.01112349, 0.00798571, 0.22175667,
 -0.07047566,-0.01059295,-0.00409633, 0.36419703,-0.0120556 ,-0.01970463,
  1.37806627, 0.01888169, 1.35244544, 0.02436914, 0.08855027,-0.06802285,
  0.13174957, 0.99028663, 0.00879743,-0.03284894,-0.13481819]

qacc:
[ 3.51376406e+02,-1.06718102e+01, 1.17855459e+02,-2.00401369e+02,
  1.15680861e+02, 3.83475402e+02,-6.26122144e+02,-6.67853043e+02,
 -1.66886315e-01,-8.19184886e+00, 9.30816412e+00, 9.15967201e+00,
  2.03447978e-01,-1.15998640e-01,-4.76698719e+00, 1.60902915e+01,
 -2.86035717e-01, 1.39582958e+00,-6.77727954e-01,-1.44949395e+01,
  2.15779674e+00, 3.43101889e+01]

qfrc_actuator:
[-0.00673616, 0.35016099, 0.07540231, 0.01291152,-0.01203565, 0.26206258,
  0.05199749, 0.01525318,-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([ 0.50605239, -0.45888855,  0.21333147, -0.45888855,  0.53720625,
        0.06701379,  0.21333147,  0.06701379,  0.650203  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024082088027779457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97992127e-01,  1.28389937e-02, -6.20231743e-02,  1.28142708e-02,
        9.99917577e-01,  7.96380781e-04,  6.20282869e-02,  0.00000000e+00,
       -9.98074392e-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([ 0.11714635, -0.03428812,  0.12807619])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.22278533, -0.21791379, -0.0463345 , -0.21791379,  0.2567103 ,
       -0.15955104, -0.0463345 , -0.15955104,  0.97316304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000276623610123918
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.32445448e-01, -6.79410588e-01, -4.38738929e-02, -3.21662067e-02,
       -2.98371182e-02,  9.99037077e-01, -6.80065439e-01,  7.33151416e-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([ 0.11731321, -0.03258005,  0.11468868])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2088578 , -0.06380932,  0.19887169, -0.06380932,  0.10103697,
       -0.03459504,  0.19887169, -0.03459504,  0.19775775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014480357192566014
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61758513e-01,  2.70328381e-01, -4.40809417e-02,  2.70044885e-01,
        9.62768179e-01,  1.23771536e-02,  4.57856239e-02,  1.73472348e-18,
       -9.98951288e-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([ 0.10717062, -0.07659837,  0.11295204])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00043386481686591427
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27945731e-13, -2.55891462e-13,  1.00000000e+00,  3.27402203e-26,
        1.00000000e+00,  2.55891462e-13, -1.00000000e+00,  0.00000000e+00,
        1.27945731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427501, -0.08625996,  0.06198683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17465365e-02, 2.03675274e-01, 1.01764704e-01, 2.30266100e-02,
 -1.91273629e-03, 1.07176884e-01, 4.41172503e-02, 1.02874475e-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,
  1.72657707e-04,-4.73680369e-03,-4.90902171e+00,-8.40784132e-03,
  4.08023409e-04, 3.78246864e-04]


--- Step 1814 ---
qpos:
[ 0.00860121, 0.17379971,-0.09138061,-0.01133111, 0.007879  , 0.22493051,
 -0.07049431,-0.01060879,-0.00408617, 0.36818168,-0.01208874,-0.01970994,
  1.37814714, 0.01888171, 1.35254211, 0.02437339, 0.0883036 ,-0.06794044,
  0.13177982, 0.99046967, 0.00880029,-0.03418198,-0.13313144]

qacc:
[ 3.32479024e+02,-3.16682857e+00, 1.03485909e+02,-2.02276621e+02,
  1.86231546e+02, 7.22978741e+01,-1.26028758e+02,-4.03182495e+02,
 -1.69947178e-01,-2.19698506e+01, 5.87222351e+01,-6.73161970e+01,
  1.80760651e-01,-6.84854471e-02,-4.96817956e+00, 1.70233710e+01,
 -4.08130924e-01, 1.18734545e+00,-6.10186533e-01,-1.35549377e+01,
 -2.63642399e+00, 2.23509123e+01]

qfrc_actuator:
[-7.14061292e-03, 3.50743953e-01, 7.59057578e-02, 1.31895573e-02,
 -1.18430143e-02, 2.61849621e-01, 5.19620088e-02, 1.52406808e-02,
 -5.94533696e-04, 2.10986851e-01, 1.91154349e-03, 3.46688358e-04,
  6.78720490e-04,-1.36312592e-03, 0.00000000e+00,-7.93832336e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.49013138, -0.45811872,  0.17422975, -0.45811872,  0.50729174,
        0.04512136,  0.17422975,  0.04512136,  0.60877323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017424814651408076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97813122e-01,  1.36360508e-02, -6.46763641e-02,  1.36074956e-02,
        9.99907025e-01,  8.82012194e-04,  6.46823780e-02,  1.08420217e-19,
       -9.97905902e-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([ 0.11685005, -0.03406295,  0.12813987])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.24137965, -0.23320726, -0.06227764, -0.23320726,  0.31554412,
       -0.27771917, -0.06227764, -0.27771917,  1.28133757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037623469212023583
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.38635429e-01, -6.72656409e-01, -4.41707854e-02, -3.26579814e-02,
       -2.97407890e-02,  9.99023995e-01, -6.73313566e-01,  7.39357046e-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([ 0.11695143, -0.03247712,  0.11472436])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.22972672, -0.08314398,  0.21415285, -0.08314398,  0.21176106,
       -0.00697509,  0.21415285, -0.00697509,  0.22701866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031924649736914356
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62622564e-01,  2.67537517e-01, -4.22075378e-02,  2.67280716e-01,
        9.63547444e-01,  1.17192982e-02,  4.38043171e-02,  1.73472348e-18,
       -9.99040130e-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([ 0.10684675, -0.07665161,  0.11304654])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00043231922849969184
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28403151e-13,  2.56806302e-13,  1.00000000e+00, -3.29747384e-26,
        1.00000000e+00, -2.56806302e-13, -1.00000000e+00,  0.00000000e+00,
        1.28403151e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427496, -0.08625844,  0.06198689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58698494e-02, 2.02183172e-01, 1.01161776e-01, 2.33572339e-02,
 -3.54545206e-03, 9.55177430e-02, 4.83099657e-02, 1.39322859e-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,
  2.46441526e-05,-4.79732883e-03,-4.90888912e+00,-8.43303436e-03,
  5.04502417e-04, 4.07832613e-04]


--- Step 1815 ---
qpos:
[ 0.00930665, 0.17675397,-0.09186304,-0.01154107, 0.00782868, 0.22802788,
 -0.07057172,-0.01065435,-0.00407609, 0.37215099,-0.01211981,-0.01971559,
  1.37822798, 0.01888194, 1.35263916, 0.02437555, 0.08805517,-0.06785388,
  0.13180782, 0.99065086, 0.00877381,-0.03552362,-0.13142283]

qacc:
[ 3.14108345e+02,-5.79401548e+00, 1.05211282e+02,-2.03924460e+02,
  1.75061415e+02, 1.21121930e+00,-2.64169226e+01,-3.36731167e+02,
 -7.78158528e-02,-2.67876305e+01, 6.75476404e+01,-6.55530260e+01,
 -3.55936093e-01, 4.89091168e-01, 6.91816979e+00,-2.32843616e+01,
 -4.39794991e-01, 1.03401440e+00,-5.59941466e-01,-1.35724882e+01,
 -6.14720914e+00, 1.12409068e+01]

qfrc_actuator:
[-7.62756601e-03, 3.50806682e-01, 7.64138489e-02, 1.35116413e-02,
 -1.17023584e-02, 2.61950178e-01, 5.20010240e-02, 1.52614511e-02,
 -6.10130141e-04, 2.10127221e-01, 1.97246073e-03, 3.19518147e-04,
  6.65586953e-04,-1.35828466e-03, 0.00000000e+00,-9.08072717e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.47989171, -0.45970585,  0.13771923, -0.45970585,  0.48739661,
        0.02505131,  0.13771923,  0.02505131,  0.56351282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001082475903563785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97625540e-01,  1.45041242e-02, -6.73269005e-02,  1.44712069e-02,
        9.99894810e-01,  9.76620455e-04,  6.73339833e-02, -1.08420217e-19,
       -9.97730492e-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([ 0.11654784, -0.03383105,  0.12820628])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.27211348, -0.26093203, -0.07720247, -0.26093203,  0.41662324,
       -0.48841996, -0.07720247, -0.48841996,  1.92289511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048068110642837127
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.44843662e-01, -6.65718215e-01, -4.50241888e-02, -3.35700252e-02,
       -3.00038496e-02,  9.98985897e-01, -6.66394007e-01,  7.45599777e-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([ 0.11658346, -0.03237079,  0.11475509])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.27425787, -0.11450471,  0.24921085, -0.11450471,  0.25604138,
       -0.00836991,  0.24921085, -0.00836991,  0.27041215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004864233234134563
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63500736e-01,  2.64626196e-01, -4.04883761e-02,  2.64392858e-01,
        9.64351065e-01,  1.11103573e-02,  4.19851002e-02, -1.73472348e-18,
       -9.99118237e-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([ 0.10652653, -0.07670396,  0.11313909])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004313495710569354
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.43458983e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.43458983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427507, -0.08625667,  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:
[-3.99411995e-02, 1.99939941e-01, 1.00621286e-01, 2.37744934e-02,
 -6.35691641e-03, 9.60596037e-02, 5.12366715e-02, 1.57737959e-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,
 -1.27621872e-04,-4.86010535e-03,-4.90885551e+00,-8.45326773e-03,
  6.04066004e-04, 4.36252698e-04]


--- Step 1816 ---
qpos:
[ 0.01007886, 0.17974148,-0.09232877,-0.01175399, 0.00782899, 0.23102638,
 -0.07071287,-0.0107281 ,-0.00406605, 0.37610323,-0.01215068,-0.01972063,
  1.37830874, 0.01888249, 1.35273626, 0.02437635, 0.08780503,-0.06776354,
  0.13183366, 0.99082738, 0.00871632,-0.03687882,-0.12971156]

qacc:
[ 2.99600991e+02,-9.05891114e+00, 1.07813241e+02,-2.09538328e+02,
  1.54278238e+02,-1.12170099e+01,-3.14359352e+01,-2.80889566e+02,
 -1.86968266e-02,-2.18289696e+01, 4.25727645e+01,-1.98787824e+01,
 -3.68728171e-01, 5.76408724e-01, 4.24991042e+00,-1.46533513e+01,
 -4.27193761e-01, 9.47701803e-01,-5.38643609e-01,-1.44036091e+01,
 -8.82347958e+00, 1.61597900e+00]

qfrc_actuator:
[-8.29639896e-03, 3.50562124e-01, 7.68825929e-02, 1.37547700e-02,
 -1.16494227e-02, 2.62415182e-01, 5.21084051e-02, 1.53277238e-02,
 -6.23467573e-04, 2.09222352e-01, 1.94918114e-03, 3.41188526e-04,
  6.65450758e-04,-1.33783705e-03, 0.00000000e+00,-9.76231497e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.4746542 , -0.46246872,  0.10686109, -0.46246872,  0.4772237 ,
        0.01112014,  0.10686109,  0.01112014,  0.52277947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.359936695792493e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97428276e-01,  1.54416477e-02, -6.99884976e-02,  1.54037726e-02,
        9.99880771e-01,  1.08086659e-03,  6.99968433e-02, -2.16840434e-19,
       -9.97547213e-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([ 0.11624059, -0.03359495,  0.12827526])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005858772806584184
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75101352, -0.65871447, -0.04554047, -0.03423703, -0.03002932,
        0.99896249, -0.6593986 ,  0.75179351,  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([ 0.11621098, -0.03226217,  0.11479151])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.33704232, -0.15629732,  0.29861124, -0.15629732,  0.28026585,
       -0.0297176 ,  0.29861124, -0.0297176 ,  0.3214877 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000639239428392508
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.964474  ,  0.26116531, -0.03978164,  0.26094343,  0.96529409,
        0.01076313,  0.04121193,  0.        , -0.99915043])
  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([ 0.1062139 , -0.07675978,  0.11321803])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004309102184129193
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2882301e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.2882301e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427533, -0.08625466,  0.06198694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40597827e-02, 1.97625618e-01, 1.00117631e-01, 2.41293990e-02,
 -9.12874352e-03, 1.00239215e-01, 5.42464006e-02, 1.73194445e-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,
 -2.88381100e-04,-4.92117436e-03,-4.90889853e+00,-8.46829857e-03,
  7.07465465e-04, 4.64529718e-04]


--- Step 1817 ---
qpos:
[ 0.0109062 , 0.18297363,-0.09271521,-0.01198531, 0.00788767, 0.23391611,
 -0.07091591,-0.01083277,-0.00405574, 0.38003787,-0.01218168,-0.0197251 ,
  1.37838932, 0.01888359, 1.35283312, 0.02437765, 0.08756006,-0.06766209,
  0.13185363, 0.99100173, 0.0085693 ,-0.03820467,-0.12799434]

qacc:
[ 2.41939392e+02, 6.38002036e+01, 3.18704146e+02,-9.42734854e+02,
  1.74840081e+02,-3.49920478e+01, 4.59426619e+01,-4.01369110e+02,
  4.04980705e-01,-2.17587392e+01, 4.13803238e+01,-1.82584854e+01,
 -4.11278526e-01, 7.13019644e-01,-1.81199669e+00, 5.96311959e+00,
  1.29231896e+00, 2.77708080e+00,-1.46914817e+00,-4.61383766e+01,
  8.71491468e+00, 4.33765113e+00]

qfrc_actuator:
[-0.00911766, 0.34978628, 0.07732236, 0.01395209,-0.0116304 , 0.262495  ,
  0.0522853 , 0.0153784 ,-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: -0.0006897238733917504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75703519, -0.65174183, -0.04615527, -0.03497844, -0.03011341,
        0.99893428, -0.65243714,  0.75784284,  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([ 0.11583626, -0.03215234,  0.1148284 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.38900788, -0.20346917,  0.33155305, -0.20346917,  0.29227826,
       -0.05936153,  0.33155305, -0.05936153,  0.3525786 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007750448329663333
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65313754e-01,  2.58181226e-01, -3.88820181e-02,  2.57972043e-01,
        9.66096504e-01,  1.03908948e-02,  4.02465157e-02,  1.73472348e-18,
       -9.99189781e-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([ 0.10591319, -0.07680678,  0.11329692])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004309617856395054
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.44037976e-14,  1.28807595e-13,  1.00000000e+00, -8.29569829e-27,
        1.00000000e+00, -1.28807595e-13, -1.00000000e+00,  0.00000000e+00,
        6.44037976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427571, -0.08625243,  0.06198695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.82338722e-02, 1.95085233e-01, 9.96934419e-02, 2.44699705e-02,
 -1.16454932e-02, 1.05158434e-01, 5.75769284e-02, 1.87732408e-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,
 -4.61492413e-04,-4.97687045e-03,-4.90900388e+00,-8.47819226e-03,
  8.15245752e-04, 4.93479845e-04]


--- Step 1818 ---
qpos:
[ 0.01179158, 0.18633408,-0.09304525,-0.01223414, 0.00799616, 0.23669162,
 -0.07118056,-0.01096681,-0.00404578, 0.38395666,-0.01221297,-0.01972987,
  1.37846953, 0.01888498, 1.35293001, 0.02437828, 0.08731899,-0.06755168,
  0.13186884, 0.99116942, 0.00834359,-0.03951702,-0.12630108]

qacc:
[ 2.50090934e+02,-2.34810787e+01, 4.03526604e+02,-8.91152436e+02,
  1.46662557e+02,-3.96253187e+01, 4.55642893e+01,-3.70657092e+02,
 -4.34004585e-01,-2.07184383e+01, 4.47380519e+01,-3.77787501e+01,
 -5.41969003e-01, 6.57133972e-01, 2.15153986e+00,-7.31131021e+00,
  9.75638417e-01, 2.23732691e+00,-1.19068304e+00,-4.02846829e+01,
  1.42929690e+00,-1.08578483e+01]

qfrc_actuator:
[-0.01006319, 0.34850246, 0.07771098, 0.01410304,-0.01165974, 0.26248191,
  0.05249202, 0.01541596,-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([ 0.40559776,  0.20453828,  0.35024796,  0.20453828,  3.36010198,
       -1.72537542,  0.35024796, -1.72537542,  1.41318486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008288982502014606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61744087e-01, -6.46210774e-01, -4.64497650e-02, -3.54210664e-02,
       -3.00487724e-02,  9.98920627e-01, -6.46909031e-01,  7.62567181e-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([ 0.11544862, -0.0320541 ,  0.11487464])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.42108501, -0.23833101,  0.34714682, -0.23833101,  0.30512688,
       -0.07961017,  0.34714682, -0.07961017,  0.36642925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008960590438878371
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96613646,  0.25517197, -0.03830938,  0.2549716 ,  0.96689569,
        0.01011017,  0.03962101,  0.        , -0.99921478])
  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([ 0.10562507, -0.07685098,  0.11336936])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004318906308743431
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.42652876e-14,  1.28530575e-13,  1.00000000e+00, -8.26005439e-27,
        1.00000000e+00, -1.28530575e-13, -1.00000000e+00,  0.00000000e+00,
        6.42652876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427628, -0.08624995,  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:
[-5.19550659e-02, 1.81456872e-01, 9.60874299e-02, 2.55354158e-02,
 -1.45989256e-02, 1.10483865e-01, 6.08456397e-02, 2.03508622e-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,
 -9.96214014e-04,-4.75706632e-03,-4.90885463e+00,-8.47031497e-03,
  9.73007619e-04, 5.44261412e-04]


--- Step 1819 ---
qpos:
[ 0.01273313, 0.18976921,-0.09333972,-0.01250217, 0.00814841, 0.23935912,
 -0.07150561,-0.01112764,-0.00403697, 0.38786703,-0.01224759,-0.01973548,
  1.37854958, 0.01888576, 1.35302661, 0.02438047, 0.08708063,-0.06743452,
  0.13188036, 0.99132589, 0.00805001,-0.04083167,-0.12466332]

qacc:
[ 2.36996707e+02,-3.96161271e+01, 3.65284156e+02,-8.09224276e+02,
  1.26805075e+02,-2.95886269e+01, 1.08373447e+01,-2.97911833e+02,
 -1.50113180e+00,-3.56031766e+00, 1.44408463e-01,-3.29662033e+00,
  3.96321067e-01,-8.32057193e-01,-5.24768054e+00, 1.75723540e+01,
  6.76354113e-01, 1.68951851e+00,-9.22721469e-01,-3.45399102e+01,
 -5.88651013e+00,-2.68570460e+01]

qfrc_actuator:
[-0.01105499, 0.34780223, 0.07806007, 0.01428589,-0.01175062, 0.26301237,
  0.05274113, 0.01550974,-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: -0.0009840271752793285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76565686, -0.64162019, -0.04575048, -0.03506588, -0.0293852 ,
        0.9989529 , -0.64229274,  0.76645942,  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([ 0.11505547, -0.03196306,  0.11493634])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.25927307,  0.34388517, -0.25927307,  0.32567087,
       -0.07916688,  0.34388517, -0.07916688,  0.37098529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010014028244948584
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66926065e-01,  2.52191861e-01, -3.81215061e-02,  2.51996090e-01,
        9.67677253e-01,  9.93506208e-03,  3.93948561e-02, -1.73472348e-18,
       -9.99223721e-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([ 0.10534992, -0.07689186,  0.11343448])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00043341665222175474
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40390153e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.40390153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427697, -0.08624731,  0.06198688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.58668730e-02, 1.74224246e-01, 9.35824865e-02, 2.65881954e-02,
 -1.71839393e-02, 1.16630489e-01, 6.41462782e-02, 2.19075249e-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,
 -1.44651086e-03,-4.58080242e-03,-4.90888450e+00,-8.45473136e-03,
  1.12143709e-03, 5.90133495e-04]


--- Step 1820 ---
qpos:
[ 0.01372566, 0.19324479,-0.09361522,-0.01279056, 0.00834013, 0.24192652,
 -0.07188856,-0.01131184,-0.00402873, 0.39177592,-0.01228613,-0.01974169,
  1.37862914, 0.01888689, 1.35312281, 0.02438633, 0.08684382,-0.06731265,
  0.13188915, 0.99146711, 0.00769899,-0.04216345,-0.12310947]

qacc:
[ 2.10441744e+02,-4.10367193e+01, 3.09637712e+02,-7.22187237e+02,
  1.12601490e+02,-1.90552917e+01,-2.59809741e+01,-2.11585368e+02,
 -7.28090039e-01, 7.74607276e+00,-2.79395474e+01, 2.49565611e+01,
 -2.70444253e-01, 3.65564334e-01,-1.16583548e+01, 3.99827019e+01,
  3.87537723e-01, 1.17865746e+00,-6.80285536e-01,-2.90529863e+01,
 -1.27145141e+01,-4.13072742e+01]

qfrc_actuator:
[-0.01207814, 0.34731244, 0.07836598, 0.01454984,-0.01189231, 0.26389068,
  0.05305686, 0.01571742,-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: -0.0011559619886091198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76888975, -0.63784876, -0.04424373, -0.03405189, -0.02824847,
        0.99902077, -0.63847397,  0.76964341,  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([ 0.11466179, -0.03187897,  0.11501028])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.27217071,  0.33377035, -0.27217071,  0.35057398,
       -0.06531648,  0.33377035, -0.06531648,  0.37741148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010916179088745113
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96766703,  0.24930029, -0.03833908,  0.24910485,  0.96842623,
        0.00986956,  0.03958905,  0.        , -0.99921605])
  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([ 0.10508719, -0.07692893,  0.11349212])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004352825273512134
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.9129352e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.9129352e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427776, -0.08624459,  0.06198683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.97164007e-02, 1.69880187e-01, 9.20743334e-02, 2.78055095e-02,
 -1.95169766e-02, 1.22819475e-01, 6.74543072e-02, 2.34498841e-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,
 -1.79459112e-03,-4.44805707e-03,-4.90907471e+00,-8.43168288e-03,
  1.25846647e-03, 6.32284565e-04]


--- Step 1821 ---
qpos:
[ 0.0147638 , 0.19673086,-0.09388602,-0.01309982, 0.00856387, 0.24439568,
 -0.07232505,-0.01151661,-0.00401963, 0.39568125,-0.01232418,-0.01974848,
  1.37870826, 0.01888882, 1.35321915, 0.02439308, 0.08660751,-0.06718775,
  0.13189601, 0.99159001, 0.0072997 ,-0.04352493,-0.12166165]

qacc:
[ 1.84052454e+02,-4.18825445e+01, 2.57279119e+02,-6.33589430e+02,
  9.01104868e+01,-2.29797135e+01,-2.01225426e+01,-1.77511750e+02,
  1.09375022e+00,-7.24745019e+00, 2.14514689e+01,-2.96289308e+01,
 -7.74816714e-01, 1.18932942e+00,-2.40922067e+00, 8.96714785e+00,
  1.23335766e-01, 7.55843856e-01,-4.84462675e-01,-2.42703999e+01,
 -1.84937151e+01,-5.25515786e+01]

qfrc_actuator:
[-0.01311964, 0.34666922, 0.07861283, 0.01483578,-0.01211319, 0.26455143,
  0.05345197, 0.01592974,-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: -0.001323951820845016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.71375950e-01, -6.34878111e-01, -4.36912818e-02, -3.37346179e-02,
       -2.77651520e-02,  9.99045080e-01, -6.35484948e-01,  7.72113257e-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([ 0.11427351, -0.03180164,  0.11507516])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28001907,  0.32721378, -0.28001907,  0.35794738,
       -0.06223656,  0.32721378, -0.06223656,  0.3774133 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011674768098875463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68345799e-01,  2.46551067e-01, -3.89741682e-02,  2.46351613e-01,
        9.69129801e-01,  9.91520719e-03,  4.02156328e-02, -1.73472348e-18,
       -9.99191024e-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([ 0.10483609, -0.0769618 ,  0.11354231])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004372748634829393
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34739793e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.34739793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427857, -0.08624189,  0.06198677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.33244320e-02, 1.67092265e-01, 9.13359121e-02, 2.91034798e-02,
 -2.17134861e-02, 1.28399297e-01, 7.07194179e-02, 2.48260093e-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,
 -2.03066678e-03,-4.34577837e-03,-4.90940431e+00,-8.40169123e-03,
  1.38329957e-03, 6.71721416e-04]


--- Step 1822 ---
qpos:
[ 0.01584252, 0.20020464,-0.09416582,-0.01343043, 0.00881357, 0.24676944,
 -0.07280976,-0.01173882,-0.00400977, 0.39957684,-0.01235959,-0.0197553 ,
  1.37878753, 0.01889037, 1.35331545, 0.02440128, 0.08637071,-0.06706124,
  0.13190157, 0.99169232, 0.00686028,-0.0449268 ,-0.12033647]

qacc:
[ 1.60169130e+02,-3.49475609e+01, 1.90752285e+02,-5.36471988e+02,
  7.21038717e+01,-2.75229143e+01,-1.15837988e+01,-1.42658368e+02,
  9.66141985e-01,-2.03328496e+01, 5.39301720e+01,-5.14891371e+01,
  4.69279196e-01,-6.82687409e-01,-4.52248555e+00, 1.55593997e+01,
 -1.19524466e-01, 4.04439399e-01,-3.25230090e-01,-2.00263053e+01,
 -2.33540277e+01,-6.10405220e+01]

qfrc_actuator:
[-0.01420491, 0.34640929, 0.0788842 , 0.01516133,-0.01235443, 0.26499556,
  0.053878  , 0.01613362,-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: -0.0015138547913986394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.73282344e-01, -6.32644031e-01, -4.23786061e-02, -3.28000947e-02,
       -2.68346799e-02,  9.99101623e-01, -6.33212895e-01,  7.73977668e-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([ 0.11389178, -0.03173142,  0.11515044])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28461443,  0.32322463, -0.28461443,  0.36813126,
       -0.05507125,  0.32322463, -0.05507125,  0.38218054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012290779649933494
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9689516 ,  0.24398495, -0.0400517 ,  0.24377678,  0.96977902,
        0.01007654,  0.04129983,  0.        , -0.9991468 ])
  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([ 0.10459616, -0.0769902 ,  0.11358478])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004392452437706057
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26378491e-13, -1.26378491e-13,  1.00000000e+00,  1.59715231e-26,
        1.00000000e+00,  1.26378491e-13, -1.00000000e+00,  0.00000000e+00,
        1.26378491e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07427938, -0.08623928,  0.06198671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.67057018e-02, 1.66185240e-01, 9.13355653e-02, 3.04660057e-02,
 -2.35577856e-02, 1.33673617e-01, 7.37982059e-02, 2.60541117e-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,
 -2.15848284e-03,-4.25015956e-03,-4.90985054e+00,-8.36535102e-03,
  1.49711059e-03, 7.09413877e-04]


--- Step 1823 ---
qpos:
[ 0.0169588 , 0.20356102,-0.0944892 ,-0.01377612, 0.0090794 , 0.24905674,
 -0.07333805,-0.01197373,-0.00399942, 0.40345792,-0.012393  ,-0.01976186,
  1.37886712, 0.01889123, 1.35341193, 0.02440896, 0.08612994,-0.06693727,
  0.1319078 , 0.99177018, 0.00641007,-0.04639683,-0.11915605]

qacc:
[ 1.45296418e+02,-6.44185714e+01, 6.78394349e+01,-1.72743180e+02,
  4.42229850e+01,-1.88708053e+01,-4.52218870e+01,-4.09094029e+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,
 -9.93638188e-01,-6.37948033e-01, 1.69623607e-01,-4.42222202e+00,
 -3.54990920e+01,-7.27716811e+01]

qfrc_actuator:
[-1.53119032e-02, 3.46433429e-01, 7.91643372e-02, 1.55017074e-02,
 -1.26146354e-02, 2.65789983e-01, 5.43564309e-02, 1.63375503e-02,
 -6.81002190e-04, 2.06837402e-01, 2.22227635e-03, 3.45717555e-04,
  5.94513307e-04,-1.34536072e-03, 0.00000000e+00,-6.22913660e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.47373809, -0.46178768,  0.10573513, -0.46178768,  0.46102196,
       -0.05553644,  0.10573513, -0.05553644,  0.2311882 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2796944708840894e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95800572e-01,  2.35769144e-02, -8.84610059e-02,  2.34844329e-02,
        9.99722026e-01,  2.08621748e-03,  8.84856026e-02,  4.33680869e-19,
       -9.96077456e-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([ 0.11385396, -0.03245537,  0.12889936])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0016856399819063829
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77461354, -0.63109601, -0.04113018, -0.03188698, -0.02597908,
        0.9991538 , -0.6316305 ,  0.77526957,  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([ 0.1135199 , -0.0316679 ,  0.11522594])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28393127,  0.32382491, -0.28393127,  0.38864289,
       -0.03685252,  0.32382491, -0.03685252,  0.39836089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012766635136964662
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69476236e-01,  2.41632424e-01, -4.15884538e-02,  2.41410401e-01,
        9.70367854e-01,  1.03559891e-02,  4.28584414e-02, -1.73472348e-18,
       -9.99081155e-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([ 0.10436675, -0.07701401,  0.11361941])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004410927169010287
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88773751e-13, -1.25849168e-13,  1.00000000e+00,  2.37570195e-26,
        1.00000000e+00,  1.25849168e-13, -1.00000000e+00,  0.00000000e+00,
        1.88773751e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428015, -0.08623681,  0.06198665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.98568592e-02, 1.66702335e-01, 9.20284580e-02, 3.18671007e-02,
 -2.51172772e-02, 1.39160824e-01, 7.66660291e-02, 2.71263365e-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,
 -2.18464726e-03,-4.13624278e-03,-4.91039831e+00,-8.32300300e-03,
  1.60164922e-03, 7.45969728e-04]


--- Step 1824 ---
qpos:
[ 0.01810772, 0.2068281 ,-0.09485789,-0.01413776, 0.00935869, 0.25127517,
 -0.07390502,-0.01221955,-0.0039879 , 0.40732429,-0.01242613,-0.01976852,
  1.37894685, 0.01889137, 1.35350866, 0.02441456, 0.08588506,-0.06681569,
  0.13191457, 0.99182392, 0.00594866,-0.04793582,-0.11811897]

qacc:
[ 123.47631338, -24.71390201, -16.44543151,-120.94490493,  36.45017017,
   -5.70746172, -65.96151117, -10.06576776,   1.43272403, -20.45535448,
   45.12977076, -36.52795627,   0.34033746,  -0.74869669,   6.66277131,
  -22.86022185,  -1.02678431,  -0.59556124,   0.13256888,  -4.69338381,
  -35.87912434, -72.03789527]

qfrc_actuator:
[-1.63918896e-02, 3.46507243e-01, 7.94701638e-02, 1.58887628e-02,
 -1.29045150e-02, 2.67303123e-01, 5.48987090e-02, 1.65437337e-02,
 -6.25817336e-04, 2.06158055e-01, 2.24525845e-03, 3.40459273e-04,
  5.89212795e-04,-1.38743393e-03, 0.00000000e+00,-7.33049788e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.47425016, -0.46026787,  0.11430969, -0.46026787,  0.45758428,
       -0.06710518,  0.11430969, -0.06710518,  0.2040512 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3697287069129826e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99550416,  0.02494291, -0.09137456,  0.0248385 ,  0.99968888,
        0.00227986,  0.091403  ,  0.        , -0.99581398])
  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([ 0.11352117, -0.03228954,  0.12899723])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.30673355e-01, -4.30673325e-01,  1.61995351e-04, -4.30673325e-01,
        4.30673927e-01,  1.51947776e-03,  1.61995351e-04,  1.51947776e-03,
        4.47028644e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0018556898301788642
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77583948, -0.62965025, -0.04017047, -0.03119101, -0.02531378,
        0.99919284, -0.63015889,  0.77646621,  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([ 0.11316453, -0.0316064 ,  0.1152968 ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28386972,  0.32387887, -0.28386972,  0.40258511,
       -0.02461847,  0.32387887, -0.02461847,  0.40909603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013099468195305914
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96990669,  0.2395331 , -0.04364522,  0.23929094,  0.9708882 ,
        0.01076795,  0.04495391,  0.        , -0.99898906])
  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([ 0.10414636, -0.07703301,  0.11364571])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004425773388311016
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50854015e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.50854015e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428081, -0.08623458,  0.06198661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.28259532e-02, 1.72528876e-01, 9.44766164e-02, 3.30017704e-02,
 -2.62137474e-02, 1.44922441e-01, 7.93671052e-02, 2.79637030e-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,
 -2.00235179e-03,-4.04923566e-03,-4.91113895e+00,-8.27730786e-03,
  1.68536111e-03, 7.74274957e-04]


--- Step 1825 ---
qpos:
[ 0.01928468, 0.21001012,-0.09526886,-0.01451384, 0.00965454, 0.25343737,
 -0.07450479,-0.0124728 ,-0.00397554, 0.41117516,-0.01245913,-0.01977421,
  1.37902645, 0.01889086, 1.35360503, 0.02442181, 0.085636  ,-0.06669612,
  0.13192164, 0.99185433, 0.00547491,-0.04954313,-0.11721986]

qacc:
[ 1.03928310e+02,-2.43964871e+01,-1.57131180e+01,-1.03537534e+02,
  4.43036736e+01, 1.68616777e+00,-8.28279070e+01, 4.84501179e+01,
  1.04997082e+00,-1.88294930e+01, 3.33211748e+01,-5.24811007e+00,
  4.49873911e-01,-9.17791384e-01,-5.63207136e+00, 1.87486469e+01,
 -1.04552064e+00,-5.02209177e-01, 7.65108410e-02,-5.31813502e+00,
 -3.55812467e+01,-6.92982062e+01]

qfrc_actuator:
[-0.01755455, 0.34615041, 0.07986383, 0.01631073,-0.01318049, 0.26883842,
  0.05547407, 0.01684333,-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([ 0.47490449, -0.45835818,  0.12426606, -0.45835818,  0.45256276,
       -0.08240799,  0.12426606, -0.08240799,  0.17094073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.872839876394529e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99518341,  0.02635219, -0.09442213,  0.02623437,  0.99965272,
        0.00248909,  0.09445493,  0.        , -0.99552914])
  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([ 0.11319914, -0.0321292 ,  0.12909127])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0019972967485360478
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77685646, -0.62844114, -0.03944337, -0.0306657 , -0.02480714,
        0.99922181, -0.62893057,  0.77746147,  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([ 0.11282409, -0.03154813,  0.11536407])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.2845916 ,  0.32324474, -0.2845916 ,  0.45506011,
        0.02147062,  0.32324474,  0.02147062,  0.44957655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001331207610565462
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70312608e-01,  2.36895646e-01, -4.87226419e-02,  2.36597558e-01,
        9.71535101e-01,  1.18803549e-02,  5.01501612e-02, -1.73472348e-18,
       -9.98741689e-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([ 0.10393339, -0.07705677,  0.11363557])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00044377785846082263
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25087699e-13,  1.25087699e-13,  1.00000000e+00, -1.56469325e-26,
        1.00000000e+00, -1.25087699e-13, -1.00000000e+00,  0.00000000e+00,
        1.25087699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428135, -0.08623259,  0.06198658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.56318725e-02, 1.76524224e-01, 9.71017348e-02, 3.42155181e-02,
 -2.71632251e-02, 1.49829862e-01, 8.18577137e-02, 2.88057769e-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,
 -1.79426845e-03,-3.87566023e-03,-4.91193013e+00,-8.22758179e-03,
  1.77253152e-03, 8.04091641e-04]


--- Step 1826 ---
qpos:
[ 0.02048602, 0.21310726,-0.0957174 ,-0.01490242, 0.00996317, 0.25554866,
 -0.07513125,-0.012732  ,-0.00396348, 0.41500563,-0.01248967,-0.0197789 ,
  1.37910593, 0.01888934, 1.35370146, 0.02442875, 0.08538269,-0.06657804,
  0.13192877, 0.99186243, 0.0049872 ,-0.05121752,-0.1164509 ]

qacc:
[ 8.86523059e+01,-3.31507231e+01, 7.76769536e+00,-1.01272703e+02,
  3.38633681e+01,-5.20236638e+00,-5.41711387e+01, 3.14578506e+01,
 -3.24160966e-01,-3.17487953e+01, 6.98726403e+01,-4.15349349e+01,
  4.73036420e-01,-1.13332874e+00, 9.84633452e-01,-3.47811794e+00,
 -1.06373184e+00,-3.75157067e-01, 1.34489151e-02,-6.15542169e+00,
 -3.49928567e+01,-6.53270762e+01]

qfrc_actuator:
[-0.01870424, 0.34542464, 0.08030754, 0.01668751,-0.01345659, 0.27002912,
  0.05609663, 0.01712885,-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([ 0.47543446, -0.45612568,  0.1341167 , -0.45612568,  0.44658482,
       -0.09811649,  0.1341167 , -0.09811649,  0.14174409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8100594088626895e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99483716,  0.02779989, -0.09760223,  0.02766705,  0.99961351,
        0.00271438,  0.09763997,  0.        , -0.9952218 ])
  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([ 0.11288726, -0.03197373,  0.12918165])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0021348540471998437
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77768057, -0.6274447 , -0.03906498, -0.03040328, -0.02452984,
        0.99923667, -0.62792402,  0.77827465,  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([ 0.11249799, -0.03149254,  0.11542643])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28392944,  0.32382651, -0.28392944,  0.44959101,
        0.0165869 ,  0.32382651,  0.0165869 ,  0.44521667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013417505324613479
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70558313e-01,  2.35233850e-01, -5.17841463e-02,  2.34899736e-01,
        9.71938803e-01,  1.25330772e-02,  5.32792251e-02, -1.73472348e-18,
       -9.98579653e-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([ 0.10372638, -0.07706764,  0.11364689])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004447813948768309
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24027352e-14,  1.24805470e-13,  1.00000000e+00, -7.78820273e-27,
        1.00000000e+00, -1.24805470e-13, -1.00000000e+00,  0.00000000e+00,
        6.24027352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428177, -0.08623086,  0.06198655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.81936292e-02, 1.79940862e-01, 9.96262618e-02, 3.53085804e-02,
 -2.82677285e-02, 1.53763464e-01, 8.41024032e-02, 2.94597848e-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,
 -1.56948612e-03,-3.62607374e-03,-4.91275724e+00,-8.17485332e-03,
  1.86382970e-03, 8.35662460e-04]


--- Step 1827 ---
qpos:
[ 0.02170847, 0.2161239 ,-0.0961996 ,-0.01530208, 0.01028252, 0.25761646,
 -0.07577871,-0.01299556,-0.00395151, 0.41881342,-0.01251806,-0.01978299,
  1.37918519, 0.01888706, 1.35379843, 0.02443105, 0.08512504,-0.06646102,
  0.13193574, 0.99184905, 0.00448421,-0.05295797,-0.115805  ]

qacc:
[ 7.53790899e+01,-3.52401808e+01, 1.77597764e+01,-9.63504017e+01,
  2.80911495e+01,-7.90029648e+00,-3.70461857e+01, 2.74947982e+01,
 -4.64700118e-02,-3.47851393e+01, 7.79954173e+01,-5.43616024e+01,
 -1.56175556e-01,-3.58818269e-01, 1.48523746e+01,-5.07643762e+01,
 -1.08388586e+00,-2.62326105e-01,-3.92240730e-02,-6.83202192e+00,
 -3.45069357e+01,-6.17214544e+01]

qfrc_actuator:
[-0.01988922, 0.34472439, 0.08077572, 0.0170765 ,-0.01375338, 0.27110125,
  0.05671901, 0.01738966,-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([ 0.47565015, -0.45371999,  0.14276286, -0.45371999,  0.4401098 ,
       -0.1129521 ,  0.14276286, -0.1129521 ,  0.11667285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.150271616085133e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99446432,  0.02928198, -0.10091221,  0.02913237,  0.99957119,
        0.00295618,  0.10095551,  0.        , -0.99489094])
  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([ 0.11258517, -0.03182182,  0.12926843])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00226788193236628
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77836452, -0.62661095, -0.0388251 , -0.03024288, -0.02434659,
        0.99924602, -0.62708376,  0.77895183,  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([ 0.11218448, -0.03143968,  0.11548623])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.2835259 ,  0.32417989, -0.2835259 ,  0.4555115 ,
        0.0217233 ,  0.32417989,  0.0217233 ,  0.44967243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013425333336611104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70713644e-01,  2.33802573e-01, -5.52392738e-02,  2.33424932e-01,
        9.72284093e-01,  1.32832414e-02,  5.68139233e-02, -1.73472348e-18,
       -9.98384785e-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([ 0.10352454, -0.07707455,  0.11365226])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004456637112359302
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24558383e-13,  2.49116766e-13,  1.00000000e+00, -3.10295815e-26,
        1.00000000e+00, -2.49116766e-13, -1.00000000e+00,  0.00000000e+00,
        1.24558383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428206, -0.08622937,  0.06198652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.06065818e-02, 1.83378412e-01, 1.01941175e-01, 3.63169846e-02,
 -2.92042030e-02, 1.57314318e-01, 8.60422932e-02, 3.00156224e-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,
 -1.33436483e-03,-3.31628085e-03,-4.91361117e+00,-8.12011022e-03,
  1.95949947e-03, 8.69186419e-04]


--- Step 1828 ---
qpos:
[ 0.02294859, 0.21908208,-0.09671642,-0.01571358, 0.01061257, 0.25965477,
 -0.07644304,-0.0132618 ,-0.00393901, 0.42260733,-0.0125507 ,-0.01978729,
  1.37926409, 0.01888469, 1.35389557, 0.02442907, 0.08486289,-0.06634486,
  0.13194246, 0.99181444, 0.00396593,-0.05476492,-0.11527872]

qacc:
[ 6.18867559e+01,-5.39424564e+00,-4.34227801e+01,-6.25844272e+01,
  2.77223155e+01, 2.43924504e+00,-5.41122245e+01, 5.65645396e+01,
  6.11037428e-01,-6.89216777e+00,-1.14030936e+00, 1.44588443e+01,
 -6.01781056e-01, 4.98897053e-01, 1.32816339e+01,-4.59367097e+01,
 -1.12423592e+00,-2.15471321e-01,-6.02015103e-02,-6.84863606e+00,
 -3.46951134e+01,-5.99950955e+01]

qfrc_actuator:
[-0.02113735, 0.34563125, 0.0812342 , 0.01749416,-0.01403011, 0.27261225,
  0.05734627, 0.01767193,-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([ 0.47549355, -0.45153873,  0.14901975, -0.45153873,  0.43432519,
       -0.12474257,  0.14901975, -0.12474257,  0.09751613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9052381949147064e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94063766e-01,  3.07948719e-02, -1.04349912e-01,  3.06265918e-02,
        9.99525725e-01,  3.21496694e-03,  1.04399426e-01, -4.33680869e-19,
       -9.94535449e-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([ 0.11229219, -0.03167266,  0.12935182])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0023957764753543683
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.78941488e-01, -6.25897765e-01, -3.87575195e-02, -3.02125403e-02,
       -2.42764851e-02,  9.99248645e-01, -6.26368390e-01,  7.79527190e-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([ 0.11188298, -0.0313886 ,  0.11554312])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28424287,  0.32355143, -0.28424287,  0.48491184,
        0.047649  ,  0.32355143,  0.047649  ,  0.47253343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001334583109592367
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97078037,  0.23258897, -0.05905792,  0.23215976,  0.97257512,
        0.01412356,  0.06072324,  0.        , -0.99815464])
  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([ 0.10332693, -0.07707778,  0.11365226])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00044647451089972756
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24332184e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24332184e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428223, -0.08622814,  0.0619865 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.29188808e-02, 1.88206613e-01, 1.04052541e-01, 3.72835182e-02,
 -3.00169524e-02, 1.60935154e-01, 8.77037936e-02, 3.05128067e-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,
 -1.08689637e-03,-2.95559946e-03,-4.91449164e+00,-8.06349838e-03,
  2.05912201e-03, 9.04597991e-04]


--- Step 1829 ---
qpos:
[ 0.02420287, 0.2219997 ,-0.09726873,-0.01613743, 0.01095276, 0.26167641,
 -0.07712061,-0.01352941,-0.00392665, 0.4263964 ,-0.01258971,-0.01979306,
  1.37934267, 0.01888241, 1.35399254, 0.02442448, 0.08459603,-0.06622941,
  0.13194889, 0.99175883, 0.00343279,-0.05663898,-0.114868  ]

qacc:
[ 4.85506096e+01, 1.93548710e+01,-9.53561241e+01,-3.08259054e+01,
  2.60072048e+01, 1.18918219e+01,-6.87994530e+01, 7.87948327e+01,
 -1.72382496e-01, 8.38882984e+00,-3.29696996e+01, 2.12700517e+01,
 -5.11124091e-01, 5.05532978e-01, 7.72915626e+00,-2.72425758e+01,
 -1.17829177e+00,-1.77385531e-01,-7.51765362e-02,-6.62839432e+00,
 -3.49436051e+01,-5.79808583e+01]

qfrc_actuator:
[-0.02237514, 0.34742378, 0.08166578, 0.01791646,-0.01431684, 0.27444322,
  0.05799848, 0.01796715,-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([ 0.47511207, -0.44960551,  0.15357851, -0.44960551,  0.42905527,
       -0.13483261,  0.15357851, -0.13483261,  0.08038571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.2600860916046946e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99363402,  0.03233506, -0.10791611,  0.03214603,  0.99947709,
        0.0034913 ,  0.10797257,  0.        , -0.99415387])
  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([ 0.11200655, -0.03152745,  0.12943258])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002493105355841634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79330050e-01, -6.25402905e-01, -3.89342939e-02, -3.03656893e-02,
       -2.43680971e-02,  9.99241773e-01, -6.25877462e-01,  7.79921408e-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([ 0.11159209, -0.03134026,  0.11559663])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28498178,  0.32290079, -0.28498178,  0.51115947,
        0.07103444,  0.32290079,  0.07103444,  0.49336605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001319600146472095
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97075913,  0.23158829, -0.06319482,  0.23109913,  0.97281389,
        0.01504417,  0.06496086,  0.        , -0.99788781])
  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([ 0.10313223, -0.07707756,  0.11364777])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004472224201548525
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20621292e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.20621292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428226, -0.08622716,  0.06198648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.50496374e-02, 1.92821643e-01, 1.06186328e-01, 3.82930548e-02,
 -3.08388074e-02, 1.64176837e-01, 8.91841552e-02, 3.09397322e-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,
 -8.15380164e-04,-2.54047509e-03,-4.91541302e+00,-8.00415731e-03,
  2.16176814e-03, 9.41446661e-04]


--- Step 1830 ---
qpos:
[ 0.02546913, 0.2248696 ,-0.09785102,-0.01657146, 0.01130004, 0.26368573,
 -0.07780701,-0.01379786,-0.00391476, 0.43017866,-0.01262938,-0.01979892,
  1.37942107, 0.01887997, 1.35408899, 0.0244207 , 0.08432434,-0.06611413,
  0.13195479, 0.99168323, 0.00288335,-0.0585785 ,-0.11456269]

qacc:
[ 4.04661990e+01,-7.22979267e-01,-4.63743639e+01,-4.63700605e+01,
  1.80015495e+01, 6.49976486e+00,-4.34122415e+01, 5.22913235e+01,
 -5.11405343e-01,-7.33027464e+00, 1.34686218e+01,-9.04094141e+00,
  4.60464825e-02,-1.89106972e-01,-3.22551359e+00, 1.01348226e+01,
 -1.20686029e+00,-4.21493718e-02,-1.31464093e-01,-7.26728627e+00,
 -3.41422373e+01,-5.28433134e+01]

qfrc_actuator:
[-0.02368127, 0.34799568, 0.08223796, 0.01831128,-0.01468429, 0.27603909,
  0.05872204, 0.01825215,-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([ 0.47464855, -0.44674797,  0.16033559, -0.44674797,  0.42130861,
       -0.14862272,  0.16033559, -0.14862272,  0.0605365 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.347655321215253e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93173510e-01,  3.38989740e-02, -1.11612002e-01,  3.36869241e-02,
        9.99425265e-01,  3.78570812e-03,  1.11676186e-01,  4.33680869e-19,
       -9.93744650e-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([ 0.11172676, -0.03138698,  0.12951131])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002599045753556257
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77948668, -0.62518685, -0.03926729, -0.03063195, -0.02456834,
        0.99922874, -0.6256694 ,  0.78008833,  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([ 0.11131045, -0.03129519,  0.11564808])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28509307,  0.32280254, -0.28509307,  0.49256685,
        0.05466316,  0.32280254,  0.05466316,  0.47895082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012990396645423455
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97047849,  0.23164974, -0.06715583,  0.2310971 ,  0.97279926,
        0.01599161,  0.06903359,  0.        , -0.99761434])
  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([ 0.10294103, -0.07706424,  0.11364481])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00044790700478884726
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19672729e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.19672729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428216, -0.08622644,  0.06198646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.70723362e-02, 1.95322038e-01, 1.08505273e-01, 3.93006224e-02,
 -3.17140095e-02, 1.66543375e-01, 9.05548845e-02, 3.12909276e-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,
 -5.20013343e-04,-2.07846333e-03,-4.91637520e+00,-7.94251053e-03,
  2.26751750e-03, 9.79539358e-04]


--- Step 1831 ---
qpos:
[ 0.02674572, 0.22767661,-0.09845901,-0.01701281, 0.01165565, 0.26569161,
 -0.07849821,-0.01406562,-0.00390295, 0.43395053,-0.01266704,-0.01980482,
  1.37949941, 0.01887714, 1.35418521, 0.0244175 , 0.08404753,-0.06599875,
  0.13196007, 0.99158829, 0.00231802,-0.06058344,-0.11435442]

qacc:
[ 3.44811880e+01,-2.64102746e+01, 4.24620073e+00,-4.33454889e+01,
  2.09596014e+01, 1.00864254e+01,-4.55822930e+01, 6.77897268e+01,
 -7.06641128e-02,-1.94693971e+01, 4.96363737e+01,-4.58316012e+01,
  2.57580882e-01,-5.22819491e-01,-2.14414754e+00, 6.93283076e+00,
 -1.28172269e+00, 2.42216817e-02,-1.54549237e-01,-6.95262526e+00,
 -3.40531179e+01,-4.86677018e+01]

qfrc_actuator:
[-0.02501415, 0.34773431, 0.08286767, 0.0186924 ,-0.01504793, 0.27772701,
  0.05941828, 0.01854879,-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: -3.0406352655842123e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99268112,  0.03548399, -0.11543431,  0.03524648,  0.99937025,
        0.00409865,  0.11550705,  0.        , -0.99330666])
  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([ 0.11145292, -0.03124898,  0.12958784])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0026973176792906717
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79507917e-01, -6.25128920e-01, -3.97648048e-02, -3.10215161e-02,
       -2.48778062e-02,  9.99209067e-01, -6.25623747e-01,  7.80124944e-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([ 0.11103734, -0.03125209,  0.11569721])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28646707,  0.32158383, -0.28646707,  0.52330534,
        0.08251663,  0.32158383,  0.08251663,  0.50417922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012735502797663089
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97028851,  0.23104162, -0.07183295,  0.23041106,  0.97294387,
        0.01705792,  0.07383052,  0.        , -0.9972708 ])
  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([ 0.10274907, -0.07705786,  0.11363333])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004485606893168681
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23753937e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.23753937e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07428194, -0.08622599,  0.06198644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.90122600e-02, 1.97349270e-01, 1.10606898e-01, 4.01866198e-02,
 -3.24324827e-02, 1.68785044e-01, 9.16778648e-02, 3.16270845e-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,
 -2.21290610e-04,-1.60354190e-03,-4.91734899e+00,-7.88106381e-03,
  2.37762241e-03, 1.01954456e-03]


--- Step 1832 ---
qpos:
[ 0.02803107, 0.23041674,-0.09909085,-0.01745959, 0.01201902, 0.26770107,
 -0.07919078,-0.01433161,-0.00389115, 0.43771083,-0.01270368,-0.01981104,
  1.37957741, 0.01887435, 1.35428157, 0.02441301, 0.08376521,-0.0658832 ,
  0.13196473, 0.99147423, 0.00173816,-0.06265492,-0.11423747]

qacc:
[ 2.88271688e+01,-3.28870309e+01, 1.19278545e+01,-1.89637453e+01,
  1.92905159e+01, 1.20969103e+01,-4.38996190e+01, 7.44598343e+01,
  5.19792637e-03,-1.87715939e+01, 4.60932795e+01,-4.47335733e+01,
 -4.13845887e-01, 3.67246938e-01, 4.12933513e+00,-1.40667307e+01,
 -1.37578592e+00, 4.21020039e-02,-1.56578267e-01,-6.14159823e+00,
 -3.45063563e+01,-4.58482120e+01]

qfrc_actuator:
[-0.02627745, 0.34739781, 0.08345086, 0.01910199,-0.01541336, 0.27934193,
  0.06007987, 0.01883347,-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: -1.1249366711067117e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99215529,  0.0370883 , -0.11938318,  0.03682269,  0.99931199,
        0.00443077,  0.11946537,  0.        , -0.99283837])
  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([ 0.11118581, -0.03111082,  0.12966161])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002786840936287384
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79517450e-01, -6.25072171e-01, -4.04638931e-02, -3.15681651e-02,
       -2.53135853e-02,  9.99181001e-01, -6.25584523e-01,  7.80156397e-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([ 0.11077254, -0.0312094 ,  0.11574328])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28780612,  0.32038598, -0.28780612,  0.53906999,
        0.09737385,  0.32038598,  0.09737385,  0.51814532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001244126959813918
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70016420e-01,  2.30605724e-01, -7.67407700e-02,  2.29887431e-01,
        9.73047275e-01,  1.81870514e-02,  7.88664354e-02,  3.46944695e-18,
       -9.96885192e-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([ 0.1025572 , -0.07704879,  0.11361915])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004491854506310372
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.2358181e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.2358181e-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([ 0.07428158, -0.08622579,  0.06198642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.07996837e-02, 2.00062700e-01, 1.12448810e-01, 4.09573172e-02,
 -3.32152912e-02, 1.70509794e-01, 9.25645521e-02, 3.18753334e-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,
  8.81278491e-05,-1.12091362e-03,-4.91834714e+00,-7.81967414e-03,
  2.49157892e-03, 1.06066099e-03]


--- Step 1833 ---
qpos:
[ 2.93238130e-02, 2.33094095e-01,-9.97448367e-02,-1.79105853e-02,
  1.23879303e-02, 2.69711573e-01,-7.98800979e-02,-1.45944802e-02,
 -3.87908511e-03, 4.41457736e-01,-1.27395995e-02,-1.98166521e-02,
  1.37965494e+00, 1.88718811e-02, 1.35437769e+00, 2.44094139e-02,
  8.34770322e-02,-6.57673864e-02, 1.31968731e-01, 9.91341222e-01,
  1.14494630e-03,-6.47939379e-02,-1.14206029e-01]

qacc:
[ 23.93503935,-29.66755249,  3.14677658,  5.40193538, 13.72353833,
  -1.28137096, -6.58557917, 54.52544626,  0.31346947,-18.46403175,
  37.61375664,-18.46823834, -0.49093393,  0.59418379, -2.97817607,
  10.03899306, -1.46581446,  0.06593755, -0.16435064, -5.42212088,
 -34.91094926,-42.99731455]

qfrc_actuator:
[-0.02753708, 0.34741818, 0.08410332, 0.01952972,-0.01580037, 0.28028606,
  0.06077244, 0.01909185,-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: -0.002867252755529356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77957266, -0.62494302, -0.04138479, -0.03229012, -0.02588531,
        0.99914328, -0.62547887,  0.7802411 ,  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([ 0.11051562, -0.03116643,  0.11578594])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28767253,  0.32050593, -0.28767253,  0.53223606,
        0.09115838,  0.32050593,  0.09115838,  0.51249325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012115279458818117
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96966297,  0.23033158, -0.0818602 ,  0.22951516,  0.97311221,
        0.01937597,  0.08412205,  0.        , -0.99645546])
  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([ 0.10236462, -0.07703721,  0.1136027 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00044976021639285546
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85135821e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85135821e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0742811 , -0.08622586,  0.06198641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.25042086e-02, 2.03334967e-01, 1.14268615e-01, 4.16531931e-02,
 -3.39903684e-02, 1.71212572e-01, 9.33114957e-02, 3.20424306e-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,
  4.15727929e-04,-6.24802410e-04,-4.91938370e+00,-7.75765506e-03,
  2.60918178e-03, 1.10244117e-03]


--- Step 1834 ---
qpos:
[ 3.06106316e-02, 2.35688924e-01,-1.00437844e-01,-1.83632480e-02,
  1.27556360e-02, 2.71721572e-01,-8.05620456e-02,-1.48505036e-02,
 -3.86680847e-03, 4.45187312e-01,-1.27737276e-02,-1.98212741e-02,
  1.37973228e+00, 1.88693817e-02, 1.35447362e+00, 2.44070864e-02,
  8.31821928e-02,-6.56542676e-02, 1.31973498e-01, 9.91184282e-01,
  5.55626752e-04,-6.70056345e-02,-1.14296352e-01]

qacc:
[-1.87356136e+01,-3.96096649e+00,-1.37392127e+02, 2.31930580e+02,
 -2.89307781e+00,-7.03823987e+00,-4.64535256e+00, 1.11532570e+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,
 -1.66467661e+00,-6.73311672e-01, 1.92014816e-01, 2.14780282e+00,
 -3.66486321e+01,-6.18055617e+01]

qfrc_actuator:
[-0.02877888, 0.34748002, 0.08478744, 0.02002254,-0.01618347, 0.28079332,
  0.06142624, 0.0193324 ,-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: -0.002938847558825541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77969191, -0.62471723, -0.0425312 , -0.03319127, -0.02659404,
        0.99909514, -0.62528302,  0.78039807,  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([ 0.11026576, -0.03112291,  0.11582518])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.2846396 ,  0.32320247, -0.2846396 ,  0.61211709,
        0.15979479,  0.32320247,  0.15979479,  0.57140225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011755255760090874
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96922723,  0.23020693, -0.08719715,  0.22928092,  0.9731417 ,
        0.0206274 ,  0.08960375,  0.        , -0.99597749])
  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([ 0.10217121, -0.0770233 ,  0.11358389])
  solimp: array([9.0e-01, 9.5e-01, 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([  5.26954199,   3.34496683,   4.07176494,   3.34496683,
        31.69249848, -21.70653619,   4.07176494, -21.70653619,
        23.10152508,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004537703861922232
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05832823e-14,  1.22333129e-13,  1.00000000e+00, -3.74134862e-27,
        1.00000000e+00, -1.22333129e-13, -1.00000000e+00,  0.00000000e+00,
        3.05832823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07515675, -0.08137643,  0.06198629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.41217104e-02, 2.06445515e-01, 1.16036299e-01, 4.23527766e-02,
 -3.46514619e-02, 1.71605501e-01, 9.37881184e-02, 3.21248850e-02,
  1.31337549e-05,-2.16364071e-03,-4.09732258e-04,-5.83967604e-05,
 -2.18934798e-05,-9.89853739e-06,-2.84714058e-06, 6.70039461e-05,
  7.59591018e-04,-1.20623404e-04,-4.92045803e+00,-7.69532172e-03,
  2.73079972e-03, 1.14492357e-03]


--- Step 1835 ---
qpos:
[ 3.18906312e-02, 2.38202988e-01,-1.01163688e-01,-1.88149453e-02,
  1.31211258e-02, 2.73736594e-01,-8.12324833e-02,-1.50990535e-02,
 -3.85467642e-03, 4.48896956e-01,-1.28061263e-02,-1.98248936e-02,
  1.37980942e+00, 1.88668603e-02, 1.35456972e+00, 2.44038881e-02,
  8.28804715e-02,-6.55431451e-02, 1.31978706e-01, 9.91005108e-01,
 -3.11016771e-05,-6.92880986e-02,-1.14490321e-01]

qacc:
[-2.12316758e+01,-1.32649516e+01,-1.11785956e+02, 2.40444572e+02,
 -5.29952061e+00,-9.93487348e+00, 1.36916506e+01, 9.32781653e+01,
 -1.19958444e-01,-2.91092593e+01, 6.13481636e+01,-3.21343429e+01,
 -2.32165658e-01, 1.80883371e-01, 2.90606679e+00,-9.75304118e+00,
 -1.72046833e+00,-4.99035267e-01, 1.10078264e-01, 1.86215255e+00,
 -3.56974641e+01,-5.27031840e+01]

qfrc_actuator:
[-0.02996413, 0.3477359 , 0.08553402, 0.02057131,-0.01654193, 0.28130588,
  0.06206913, 0.01953953,-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([ 0.43067336, -0.42403331, -0.07533453, -0.42403331,  0.55026222,
       -0.67312639, -0.07533453, -0.67312639,  4.21948045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029979763240659207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79766510e-01, -6.24524510e-01, -4.39696143e-02, -3.43192239e-02,
       -2.74866851e-02,  9.99032869e-01, -6.25129092e-01,  7.80521376e-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([ 0.110027  , -0.03108114,  0.11585957])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28275008,  0.32485679, -0.28275008,  0.60603009,
        0.15262766,  0.32485679,  0.15262766,  0.56351799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011359491867368155
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9686883 ,  0.23030066, -0.09276095,  0.22925195,  0.97311952,
        0.02195301,  0.09532328,  0.        , -0.99544637])
  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([ 0.10197692, -0.07700639,  0.11356259])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004579497043298575
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.30323056e-14,  1.21216698e-13,  1.00000000e+00, -6.42840100e-27,
        1.00000000e+00, -1.21216698e-13, -1.00000000e+00,  0.00000000e+00,
        5.30323056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07515671, -0.08137611,  0.06198616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.50151102e-02, 2.10741038e-01, 1.18710720e-01, 4.29812305e-02,
 -3.49496480e-02, 1.72080854e-01, 9.40476715e-02, 3.19873044e-02,
 -1.02354793e-05,-2.49918775e-03,-4.93037742e-04,-7.54198915e-05,
 -2.33257825e-05,-9.34469124e-06, 4.18062521e-06,-4.57382220e-05,
  1.26009778e-03, 6.64118129e-04,-4.92163468e+00,-7.61324151e-03,
  2.84985787e-03, 1.18035805e-03]


--- Step 1836 ---
qpos:
[ 3.31631624e-02, 2.40648276e-01,-1.01916904e-01,-1.92641107e-02,
  1.34864889e-02, 2.75762307e-01,-8.18871353e-02,-1.53387788e-02,
 -3.84270228e-03, 4.52585996e-01,-1.28371791e-02,-1.98290696e-02,
  1.37988633e+00, 1.88645531e-02, 1.35466579e+00, 2.44004734e-02,
  8.25716813e-02,-6.54333893e-02, 1.31984059e-01, 9.90805069e-01,
 -6.16522659e-04,-7.16396682e-02,-1.14772355e-01]

qacc:
[-2.29616561e+01,-9.44426225e+00,-1.08994480e+02, 2.47187729e+02,
 -2.27762826e-01,-1.15580858e+01, 2.46774443e+01, 9.46249324e+01,
 -1.33051629e-01,-3.21376530e+01, 7.74267939e+01,-7.40629662e+01,
 -3.23295096e-01, 4.13435598e-01, 6.40276260e-01,-2.22538724e+00,
 -1.76723842e+00,-3.41702061e-01, 3.62946562e-02, 1.55247687e+00,
 -3.48887423e+01,-4.48782184e+01]

qfrc_actuator:
[-0.03118318, 0.34829921, 0.08627427, 0.02106292,-0.01688412, 0.28170978,
  0.06273389, 0.019812  ,-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([ 0.43067336, -0.41546014, -0.11345665, -0.41546014,  0.70362957,
       -0.99952214, -0.11345665, -0.99952214,  4.09076403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00304525395510546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79888400e-01, -6.24247637e-01, -4.57052758e-02, -3.56823035e-02,
       -2.85612578e-02,  9.98954968e-01, -6.24900678e-01,  7.80704261e-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([ 0.10979764, -0.03103981,  0.1158891 ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28262473,  0.32496585, -0.28262473,  0.65312999,
        0.19347186,  0.32496585,  0.19347186,  0.59893698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001093482524709187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96805249,  0.23057853, -0.09852872,  0.22939342,  0.97305372,
        0.02334774,  0.10125723,  0.        , -0.99486028])
  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([ 0.10178103, -0.07698697,  0.11353925])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004614073207631214
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50385432e-14, -2.40616690e-13,  1.00000000e+00,  3.61852448e-27,
        1.00000000e+00,  2.40616690e-13, -1.00000000e+00,  0.00000000e+00,
        1.50385432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07515641, -0.08137621,  0.06198606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.58971077e-02, 2.15259094e-01, 1.21071138e-01, 4.34211717e-02,
 -3.51811836e-02, 1.72170892e-01, 9.41220263e-02, 3.18837014e-02,
 -1.11691285e-05,-2.60757072e-03,-5.43823894e-04,-1.61439299e-04,
 -1.73871918e-05, 9.89961058e-06,-6.11141909e-06,-1.23112659e-05,
  1.73447372e-03, 1.39165111e-03,-4.92280397e+00,-7.53724317e-03,
  2.97653173e-03, 1.21693318e-03]


--- Step 1837 ---
qpos:
[ 3.44277266e-02, 2.43048173e-01,-1.02693681e-01,-1.97106061e-02,
  1.38523945e-02, 2.77816033e-01,-8.25248590e-02,-1.55701896e-02,
 -3.83085209e-03, 4.56262296e-01,-1.28712743e-02,-1.98357948e-02,
  1.37996318e+00, 1.88626134e-02, 1.35476204e+00, 2.43949471e-02,
  8.22556707e-02,-6.53244562e-02, 1.31989300e-01, 9.90585201e-01,
 -1.20178208e-03,-7.40589363e-02,-1.15129447e-01]

qacc:
[-2.42725199e+01, 1.08591659e+01,-1.37276319e+02, 2.54885784e+02,
  1.30291480e+00, 6.92730794e+00,-5.97486677e+00, 1.02099359e+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,
 -1.80508806e+00,-2.05676826e-01,-2.78466209e-02, 1.27035156e+00,
 -3.42159955e+01,-3.83479639e+01]

qfrc_actuator:
[-0.03241914, 0.34986617, 0.08698286, 0.02146502,-0.01725326, 0.2830172 ,
  0.06336738, 0.02006608,-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([ 0.43067336, -0.41045383, -0.13041162, -0.41045383,  0.80562114,
       -1.1801    , -0.13041162, -1.1801    ,  4.14488652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030820512757260186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78008513, -0.62385089, -0.04772066, -0.03726863, -0.02980453,
        0.99886072, -0.62456244,  0.78097487,  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([ 0.10957573, -0.03099836,  0.1159142 ])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28447638,  0.32334614, -0.28447638,  0.6689527 ,
        0.20963555,  0.32334614,  0.20963555,  0.61510841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010489041690746386
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67325449e-01,  2.31011335e-01, -1.04476024e-01,  2.29675626e-01,
        9.72951059e-01,  2.48061251e-02,  1.07380554e-01,  3.46944695e-18,
       -9.94217992e-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([ 0.10158279, -0.07696536,  0.1135144 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00046423412531142183
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04628795e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04628795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07515588, -0.08137671,  0.06198598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.67637221e-02, 2.20184007e-01, 1.23127825e-01, 4.36935286e-02,
 -3.55443574e-02, 1.72880463e-01, 9.39510568e-02, 3.16940763e-02,
 -8.68591529e-06,-1.74514223e-03,-5.93514716e-04,-2.27144297e-04,
  4.54397642e-06, 2.86569795e-05,-6.45922171e-06,-1.12777529e-04,
  2.18803139e-03, 2.05871614e-03,-4.92396811e+00,-7.46687338e-03,
  3.11012875e-03, 1.25470408e-03]


--- Step 1838 ---
qpos:
[ 0.03568407, 0.24541872,-0.10348974,-0.02015388, 0.01421931, 0.27991244,
 -0.083145  ,-0.01579405,-0.00381963, 0.45993259,-0.01290973,-0.01984306,
  1.38003989, 0.01886127, 1.35485841, 0.02438679, 0.08193227,-0.06521584,
  0.13199419, 0.99034644,-0.00178786,-0.07654473,-0.11554928]

qacc:
[-2.47806203e+01, 2.11557945e+01,-1.45628476e+02, 2.54365375e+02,
  2.32795753e+00, 2.27767204e+01,-3.12513670e+01, 1.02566761e+02,
 -6.51327838e-01, 3.14960278e+00,-2.04820807e+01, 2.25695230e+01,
 -6.85034320e-01, 1.05481514e+00, 8.23584731e+00,-2.83300722e+01,
 -1.84802146e+00,-8.04089551e-02,-8.88912063e-02, 1.08873145e+00,
 -3.36609546e+01,-3.21727422e+01]

qfrc_actuator:
[-0.03371503, 0.35166663, 0.08769736, 0.02188328,-0.01763918, 0.28495165,
  0.06401016, 0.02028835,-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: -0.003110517660420747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80317668e-01, -6.23383569e-01, -4.99726310e-02, -3.90433081e-02,
       -3.11910876e-02,  9.98750588e-01, -6.24163406e-01,  7.81293826e-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([ 0.10935905, -0.03095703,  0.11593587])
  solimp: array([9.0e-01, 9.5e-01, 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, -0.28644674,  0.32160193, -0.28644674,  0.6722453 ,
        0.21516505,  0.32160193,  0.21516505,  0.62231812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010040595111949614
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96651446,  0.23157687, -0.11055297,  0.23007666,  0.97281661,
        0.02631689,  0.11364215,  0.        , -0.99352175])
  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([ 0.10138078, -0.07694193,  0.11348915])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004664907603219304
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.43733263e-14, -1.18997322e-13,  1.00000000e+00,  8.85022666e-27,
        1.00000000e+00,  1.18997322e-13, -1.00000000e+00,  0.00000000e+00,
        7.43733263e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07515514, -0.0813776 ,  0.06198591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.76660124e-02, 2.24175135e-01, 1.25000943e-01, 4.39753360e-02,
 -3.59580612e-02, 1.73349835e-01, 9.37318142e-02, 3.14980685e-02,
 -4.17513525e-05,-9.08381652e-04,-4.66188297e-04,-8.35271930e-05,
  6.48491573e-06, 4.63049438e-05,-1.80078418e-05,-1.41676994e-04,
  2.62688526e-03, 2.66787994e-03,-4.92513019e+00,-7.40145353e-03,
  3.25001873e-03, 1.29366319e-03]


--- Step 1839 ---
qpos:
[ 0.03693242, 0.24775633,-0.10429778,-0.02059145, 0.01459123, 0.28205701,
 -0.08374507,-0.01600957,-0.00380891, 0.46359227,-0.01294782,-0.01984918,
  1.38011664, 0.01885995, 1.35495443, 0.02437908, 0.0816013 ,-0.065107  ,
  0.13199845, 0.99008984,-0.00237604,-0.07909574,-0.11601864]

qacc:
[-2.36851349e+01, 1.49755308e+00,-9.25909550e+01, 2.34619540e+02,
  1.16310634e+01, 2.46511407e+01,-3.07201787e+01, 1.07539364e+02,
 -4.97920880e-01,-1.27197609e+01, 2.02270605e+01, 6.60671060e+00,
  8.24472049e-02,-6.84103120e-02,-1.88425186e+00, 5.79670734e+00,
 -1.89258452e+00, 5.76848622e-02,-1.54804452e-01, 8.15437853e-01,
 -3.30495837e+01,-2.55318495e+01]

qfrc_actuator:
[-0.03506117, 0.35218911, 0.08842055, 0.02230961,-0.01801811, 0.28672162,
  0.06466884, 0.02061324,-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: -0.0031322079114414147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80576908e-01, -6.22856642e-01, -5.24337073e-02, -4.09849197e-02,
       -3.27036698e-02,  9.98624407e-01, -6.23714619e-01,  7.81652144e-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([ 0.10914575, -0.03091572,  0.11595481])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.42925853, -0.28912381,  0.31728584, -0.28912381,  0.75044671,
        0.29267978,  0.31728584,  0.29267978,  0.69596029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009604356948236437
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96562651,  0.23225383, -0.11672014,  0.2305755 ,  0.97265521,
        0.02787082,  0.12000156,  0.        , -0.9927737 ])
  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([ 0.10117379, -0.07691704,  0.11346447])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00046823008565459456
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44582319e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.44582319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07515422, -0.08137887,  0.06198586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.86062908e-02, 2.26087471e-01, 1.26669514e-01, 4.42375308e-02,
 -3.63882016e-02, 1.72919806e-01, 9.34953516e-02, 3.14426418e-02,
 -3.37269714e-05,-1.34299927e-03,-2.95579066e-04,-1.11708652e-05,
  3.64519999e-06, 2.72554530e-06,-2.61769799e-05, 2.02876240e-05,
  3.05184371e-03, 3.21118959e-03,-4.92629063e+00,-7.34114116e-03,
  3.39595048e-03, 1.33371910e-03]


--- Step 1840 ---
qpos:
[ 0.03817328, 0.25005938,-0.10511025,-0.021021  , 0.01496891, 0.28425308,
 -0.08432325,-0.01621692,-0.00379825, 0.46723382,-0.01298267,-0.01985503,
  1.38019368, 0.01885801, 1.35505002, 0.02437376, 0.08126258,-0.06499743,
  0.13200186, 0.98981626,-0.00296751,-0.0817109 ,-0.11652593]

qacc:
[-2.18872336e+01,-1.66030868e+01,-4.06706638e+01, 2.11516768e+02,
  1.32298539e+01, 2.36557457e+01,-2.01169084e+01, 8.88170585e+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,
 -1.93496982e+00, 1.81389723e-01,-2.15982883e-01, 5.73135998e-01,
 -3.25735192e+01,-1.97115942e+01]

qfrc_actuator:
[-0.03636341, 0.35208439, 0.08920262, 0.02275476,-0.01841499, 0.28833483,
  0.06527428, 0.02090713,-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: -0.0031472976761200634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78094412, -0.62216416, -0.05511839, -0.04310992, -0.0343449 ,
        0.99847983, -0.6231114 ,  0.7821331 ,  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([ 0.10893478, -0.03087325,  0.11597079])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.424757  , -0.29004912,  0.31030633, -0.29004912,  0.7299157 ,
        0.28523752,  0.31030633,  0.28523752,  0.69137383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009186884296519479
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64771187e-01,  2.32628770e-01, -1.22883737e-01,  2.30764416e-01,
        9.72565605e-01,  2.93926624e-02,  1.26350075e-01,  3.46944695e-18,
       -9.91985715e-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([ 0.10096  , -0.0768954,  0.1134417])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000469504991593761
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43375088e-14, -1.18233357e-13,  1.00000000e+00,  5.24217251e-27,
        1.00000000e+00,  1.18233357e-13, -1.00000000e+00,  0.00000000e+00,
        4.43375088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07515313, -0.0813805 ,  0.06198583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.95143312e-02, 2.27553705e-01, 1.28032586e-01, 4.43950523e-02,
 -3.70369022e-02, 1.72056668e-01, 9.30800684e-02, 3.13170592e-02,
 -4.70090423e-06,-2.22567651e-03,-3.42987764e-04,-9.50979035e-05,
  9.57525629e-06,-4.12757948e-05,-1.03152715e-05, 1.25569688e-04,
  3.45776194e-03, 3.66890933e-03,-4.92744295e+00,-7.28693287e-03,
  3.54788665e-03, 1.37499183e-03]


--- Step 1841 ---
qpos:
[ 0.03940717, 0.25233578,-0.10592099,-0.02144127, 0.01534948, 0.28649792,
 -0.08487752,-0.01641673,-0.00378731, 0.47085156,-0.01301416,-0.01986013,
  1.38027056, 0.01885656, 1.35514528, 0.02437199, 0.08091595,-0.06488677,
  0.13200418, 0.98952621,-0.00356304,-0.08438971,-0.11706223]

qacc:
[-2.00759736e+01,-2.05683607e+01,-1.65958690e+01, 1.93463601e+02,
  6.57891008e+00, 1.33086712e+01, 1.43254857e+01, 4.21537673e+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,
 -1.97932712e+00, 2.75335733e-01,-2.69022794e-01, 4.89346506e-01,
 -3.23713043e+01,-1.52399444e+01]

qfrc_actuator:
[-0.03761884, 0.3520442 , 0.0899995 , 0.02322437,-0.01880764, 0.2894941 ,
  0.06585568, 0.02107274,-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: -0.0031561076976067315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.81478608e-01, -6.21226958e-01, -5.80366418e-02, -4.54309700e-02,
       -3.61147996e-02,  9.98314454e-01, -6.22275833e-01,  7.82798050e-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([ 0.1087251 , -0.03082872,  0.11598373])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.4177872 , -0.28736209,  0.3032642 , -0.28736209,  0.62941467,
        0.20053047,  0.3032642 ,  0.20053047,  0.60780256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008790526747140424
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96374744,  0.23345559, -0.12918733,  0.231386  ,  0.97236747,
        0.03101657,  0.13285855,  0.        , -0.99113501])
  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([ 0.10074138, -0.07686828,  0.11341934])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004703538887081554
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03267473e-13, -3.54059906e-13,  1.00000000e+00,  3.65628717e-26,
        1.00000000e+00,  3.54059906e-13, -1.00000000e+00,  0.00000000e+00,
        1.03267473e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0751519 , -0.08138247,  0.0619858 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00399935e-01, 2.29166209e-01, 1.29032590e-01, 4.44610085e-02,
 -3.77187539e-02, 1.70571433e-01, 9.25489397e-02, 3.10709628e-02,
  1.81937414e-05,-2.94970217e-03,-5.07894288e-04,-1.08317744e-04,
  2.47191586e-06, 3.54254456e-05, 8.89925993e-06, 1.89543965e-04,
  3.84829933e-03, 4.04383970e-03,-4.92859063e+00,-7.23835625e-03,
  3.70545751e-03, 1.41746780e-03]


--- Step 1842 ---
qpos:
[ 0.04063472, 0.25459915,-0.10672487,-0.0218518 , 0.01573232, 0.28879402,
 -0.08540572,-0.0166094 ,-0.00377639, 0.47444633,-0.01304538,-0.01986477,
  1.38034733, 0.01885583, 1.35524046, 0.02437311, 0.08056125,-0.06477468,
  0.13200524, 0.98922   ,-0.00416332,-0.08713185,-0.11762018]

qacc:
[-1.80897284e+01,-1.59830270e+01,-8.70387085e+00, 1.75181107e+02,
  5.11948716e+00, 9.74742271e+00, 3.35580721e+01, 1.03852673e+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,
 -2.01780157e+00, 3.55194132e-01,-3.17367885e-01, 4.17217305e-01,
 -3.22525944e+01,-1.15742378e+01]

qfrc_actuator:
[-0.03884372, 0.35238596, 0.09081865, 0.02363317,-0.01917944, 0.29062941,
  0.06641188, 0.02119425,-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: -0.0031595784296823593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.82181330e-01, -6.20040048e-01, -6.11776536e-02, -4.79418186e-02,
       -3.80037805e-02,  9.98126893e-01, -6.21203629e-01,  7.83649189e-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([ 0.10851546, -0.0307819 ,  0.11599396])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.40890055, -0.28415093,  0.29403726, -0.28415093,  0.58799011,
        0.17306809,  0.29403726,  0.17306809,  0.57614963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008411753978758856
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62659075e-01,  2.34328937e-01, -1.35563468e-01,  2.32039467e-01,
        9.72157369e-01,  3.26762357e-02,  1.39446012e-01, -6.93889390e-18,
       -9.90229675e-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([ 0.10051677, -0.07684039,  0.11339817])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000470803285475066
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32645729e-13,  1.17907315e-13,  1.00000000e+00, -1.56399018e-26,
        1.00000000e+00, -1.17907315e-13, -1.00000000e+00,  0.00000000e+00,
        1.32645729e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07515054, -0.08138474,  0.06198579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01281802e-01, 2.30766756e-01, 1.29748223e-01, 4.44031993e-02,
 -3.82363414e-02, 1.69195578e-01, 9.18912397e-02, 3.08118825e-02,
 -2.54716517e-06,-2.93791164e-03,-6.81531233e-04,-1.29135557e-04,
  1.69966034e-05, 5.71148968e-05, 2.33143414e-05, 1.55736249e-04,
  4.23177390e-03, 4.35103658e-03,-4.92974410e+00,-7.19420673e-03,
  3.86824616e-03, 1.46097968e-03]


--- Step 1843 ---
qpos:
[ 0.04185653, 0.25686331,-0.10751763,-0.0222525 , 0.01611829, 0.2911459 ,
 -0.0859058 ,-0.01679516,-0.0037658 , 0.47802332,-0.01307931,-0.01987004,
  1.38042409, 0.01885546, 1.35533609, 0.02437296, 0.08019832,-0.06466092,
  0.13200486, 0.98889774,-0.00476876,-0.0899373 ,-0.11819392]

qacc:
[-16.15904261, -9.39141821, -6.23280528,157.8129836 ,  6.95858514,
   9.53122632, 43.94401985,-10.44379872, -0.31217982,-17.19724516,
  29.8886401 ,-23.35784403, -0.3691727 ,  0.61068871,  4.56571229,
 -14.88253302, -2.05760384,  0.41696357, -0.35930986,  0.4478591 ,
 -32.28618076, -8.65833139]

qfrc_actuator:
[-0.0400126 , 0.35304268, 0.09164532, 0.02401907,-0.01953927, 0.29172835,
  0.06692349, 0.02132218,-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: -0.0031590321096260495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78301937, -0.61864228, -0.06451668, -0.05062328, -0.03999607,
        0.99791663, -0.61993383,  0.78465409,  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([ 0.10830451, -0.03073301,  0.11600214])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.39871993, -0.28142208,  0.28245212, -0.28142208,  0.57024663,
        0.17090117,  0.28245212,  0.17090117,  0.56899786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008052833213803783
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96150857,  0.23523486, -0.14200642,  0.23271053,  0.97193856,
        0.03436931,  0.14610638,  0.        , -0.98926889])
  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([ 0.10028584, -0.07681192,  0.11337842])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004708640534991926
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47365123e-14,  1.17892098e-13,  1.00000000e+00, -1.73731835e-27,
        1.00000000e+00, -1.17892098e-13, -1.00000000e+00,  0.00000000e+00,
        1.47365123e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07514906, -0.08138731,  0.06198579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02139208e-01, 2.32001059e-01, 1.30214269e-01, 4.42998570e-02,
 -3.87111104e-02, 1.67657774e-01, 9.10801454e-02, 3.05798749e-02,
 -2.32167315e-05,-2.36868643e-03,-7.19068577e-04,-1.60831483e-04,
  1.29172560e-05, 3.09750700e-05, 2.53320538e-05,-6.42335744e-05,
  4.61285392e-03, 4.59865837e-03,-4.93090714e+00,-7.15380411e-03,
  4.03597040e-03, 1.50551731e-03]


--- Step 1844 ---
qpos:
[ 0.04307294, 0.25913863,-0.1082962 ,-0.02264322, 0.01650864, 0.29355226,
 -0.08637487,-0.0169735 ,-0.00375497, 0.48158414,-0.01311452,-0.01987643,
  1.38050072, 0.01885537, 1.35543208, 0.02436993, 0.07982695,-0.06454537,
  0.13200291, 0.98855922,-0.00537919,-0.09280678,-0.11877977]

qacc:
[-15.06846681, -4.11479735, -5.65702004,146.71882503,  9.70681983,
   0.92550363, 70.10487055,-31.71900482,  0.25702561,-20.11440092,
  45.48274236,-51.08690852, -0.53305882,  0.69535436,  9.30377202,
 -31.58890153, -2.10863937,  0.44701029, -0.39187678,  0.73268143,
 -32.65480096, -6.87852667]

qfrc_actuator:
[-0.04119922, 0.35380877, 0.09245176, 0.02445824,-0.01991143, 0.29237214,
  0.06744912, 0.02150461,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003155725490990418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78395317, -0.6170815 , -0.06802832, -0.05345485, -0.04207649,
        0.99768339, -0.61851436,  0.7857735 ,  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([ 0.10809098, -0.03068233,  0.11600891])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.38792207, -0.27900522,  0.26951739, -0.27900522,  0.56143072,
        0.17961668,  0.26951739,  0.17961668,  0.57386181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007718314014951385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9602985 ,  0.23616267, -0.14850585,  0.23338839,  0.97171353,
        0.03609247,  0.15282884,  0.        , -0.98825267])
  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([ 0.1000481 , -0.076783  ,  0.11336043])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047053112724119994
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32722452e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.32722452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07514747, -0.08139015,  0.0619858 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03045913e-01, 2.32654354e-01, 1.30447925e-01, 4.42440913e-02,
 -3.92408866e-02, 1.65436316e-01, 9.01789429e-02, 3.04131577e-02,
  1.59376808e-05,-2.12169023e-03,-5.79446888e-04,-1.70669677e-04,
 -5.58215587e-06, 1.82962283e-05, 7.08452894e-07,-1.52053315e-04,
  4.99670152e-03, 4.79567883e-03,-4.93208603e+00,-7.11644940e-03,
  4.20843432e-03, 1.55095729e-03]


--- Step 1845 ---
qpos:
[ 0.04428422, 0.26143156,-0.10905769,-0.02302368, 0.01690284, 0.29601304,
 -0.08681122,-0.01714457,-0.00374388, 0.48512629,-0.01314824,-0.01988389,
  1.3805774 , 0.01885535, 1.35552761, 0.02436882, 0.07944693,-0.06442796,
  0.13199927, 0.98820411,-0.00599424,-0.09574121,-0.11937476]

qacc:
[-14.17466248, -2.92174067,  1.19149967,135.849117  ,  8.38903364,
  -4.14846891, 88.67074862,-55.31138063,  0.2715702 ,-31.05325444,
  79.37896998,-86.41355098,  0.18723048, -0.14221412, -6.48640659,
  21.63153693, -2.16290676,  0.46604333, -0.4227396 ,  1.10192571,
 -33.12349397, -5.46480796]

qfrc_actuator:
[-0.04241227, 0.35454103, 0.09325628, 0.02490756,-0.02031126, 0.2928461 ,
  0.06796903, 0.0216987 ,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003150529533818685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78494921, -0.61539783, -0.07169554, -0.05642256, -0.04423512,
        0.99742656, -0.6169856 ,  0.78697444,  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([ 0.10787398, -0.03063014,  0.11601475])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.37693436, -0.27705958,  0.25557288, -0.27705958,  0.5274472 ,
        0.16316685,  0.25557288,  0.16316685,  0.55381909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000740691780697057
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95902849,  0.23710475, -0.15506671,  0.23406478,  0.97148409,
        0.03784627,  0.15961837,  0.        , -0.9871788 ])
  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([ 0.09980348, -0.07675367,  0.11334423])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004697875050960615
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03391974e-13, -1.18162256e-13,  1.00000000e+00,  1.22170288e-26,
        1.00000000e+00,  1.18162256e-13, -1.00000000e+00,  0.00000000e+00,
        1.03391974e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07514578, -0.08139326,  0.06198582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03996148e-01, 2.32754591e-01, 1.30524825e-01, 4.41926694e-02,
 -3.98619276e-02, 1.63107544e-01, 8.91271115e-02, 3.02328681e-02,
  1.64393621e-05,-2.35951793e-03,-4.77430924e-04,-1.74064675e-04,
  7.93810038e-06, 8.04629477e-06,-1.97801127e-05, 9.86017940e-05,
  5.39292247e-03, 4.96020229e-03,-4.93329542e+00,-7.08088164e-03,
  4.38544801e-03, 1.59698058e-03]


--- Step 1846 ---
qpos:
[ 0.04548955, 0.26376038,-0.1098001 ,-0.02339469, 0.01729904, 0.29854194,
 -0.08721648,-0.01731014,-0.00373237, 0.48865661,-0.01318509,-0.01989263,
  1.38065422, 0.01885533, 1.35562296, 0.02436929, 0.07905808,-0.06430869,
  0.13199385, 0.98783175,-0.00661337,-0.09874179,-0.11997819]

qacc:
[-16.32065451, 13.6559393 ,-19.55981445,126.03213141,  4.29262675,
  14.65725329, 55.33096297,-60.17525319,  0.41542702, -9.50959691,
  16.6275127 ,-25.05480817,  0.26039259, -0.2318908 , -5.12182241,
  17.44298181, -2.21004218,  0.46627182, -0.44744869,  1.48024235,
 -33.72866526, -5.20158044]

qfrc_actuator:
[-0.04362153, 0.35620071, 0.0940156 , 0.02525216,-0.02071113, 0.29427933,
  0.06841812, 0.02186147,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030997593576932284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.85796976e-01, -6.13863048e-01, -7.54670151e-02, -5.94713468e-02,
       -4.64588988e-02,  9.97148299e-01, -6.15618609e-01,  7.88044243e-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([ 0.10765499, -0.0305794 ,  0.11602045])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.36607917, -0.27662702,  0.23977375, -0.27662702,  0.48488355,
        0.13706464,  0.23977375,  0.13706464,  0.52421068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007117637215662123
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95769779,  0.23805489, -0.16169356,  0.23473281,  0.9712517 ,
        0.03963127,  0.16647956,  0.        , -0.9860449 ])
  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([ 0.09955185, -0.07672398,  0.11332984])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00046861202816649017
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44219962e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.44219962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07514399, -0.08139663,  0.06198586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04956109e-01, 2.33458759e-01, 1.30412979e-01, 4.40210711e-02,
 -4.04551347e-02, 1.61739025e-01, 8.79175837e-02, 3.00275116e-02,
  2.85013561e-05,-1.62197071e-03,-5.66800043e-04,-1.56045653e-04,
  1.76676171e-05, 6.33517602e-06, 1.41685188e-06, 8.45156514e-05,
  5.80530547e-03, 5.09693697e-03,-4.93454027e+00,-7.04676232e-03,
  4.56699126e-03, 1.64345836e-03]


--- Step 1847 ---
qpos:
[ 0.04668889, 0.26613358,-0.11052263,-0.02375671, 0.01769702, 0.30114801,
 -0.08759192,-0.01747137,-0.00372081, 0.49218179,-0.01322647,-0.01990256,
  1.38073082, 0.01885592, 1.35571813, 0.02437208, 0.07866015,-0.06418755,
  0.13198652, 0.98744148,-0.00723592,-0.10180988,-0.12058901]

qacc:
[-1.62497826e+01, 2.15894673e+01,-2.96911523e+01, 1.20855341e+02,
  3.69600301e+00, 2.75927245e+01, 3.13323835e+01,-6.06322605e+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,
 -2.26655880e+00, 4.64750315e-01,-4.75444781e-01, 1.93845035e+00,
 -3.44114940e+01,-4.77544339e+00]

qfrc_actuator:
[-0.04486115, 0.35796547, 0.09477446, 0.02561941,-0.0211285 , 0.29605737,
  0.06881328, 0.02203981,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003091639662040729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.86158503e-01, -6.12924343e-01, -7.92373513e-02, -6.24895987e-02,
       -4.87196870e-02,  9.96855778e-01, -6.14857591e-01,  7.88638157e-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([ 0.10743581, -0.03053486,  0.11602768])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.35607879, -0.27717702,  0.22352853, -0.27717702,  0.46067084,
        0.12969491,  0.22352853,  0.12969491,  0.51690143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006861915183784547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56308674e-01,  2.39013998e-01, -1.68362790e-01,  2.35393784e-01,
        9.71016122e-01,  4.14422198e-02,  1.73388254e-01, -6.93889390e-18,
       -9.84853549e-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([ 0.09929224, -0.07669408,  0.11331806])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00046696669300547167
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04016535e-13, -2.37752080e-13,  1.00000000e+00,  2.47301475e-26,
        1.00000000e+00,  2.37752080e-13, -1.00000000e+00,  0.00000000e+00,
        1.04016535e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0751421 , -0.08140025,  0.06198591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05906417e-01, 2.33352875e-01, 1.30199074e-01, 4.39130876e-02,
 -4.09746509e-02, 1.60027180e-01, 8.67351283e-02, 2.99271422e-02,
  3.21683767e-06,-8.05442613e-04,-4.52347634e-04,-1.11695838e-04,
 -1.31784850e-06, 4.26012060e-05, 8.60869176e-06, 1.23414820e-04,
  6.24424002e-03, 5.22698308e-03,-4.93583061e+00,-7.01269205e-03,
  4.75277989e-03, 1.69035918e-03]


--- Step 1848 ---
qpos:
[ 0.04788249, 0.2685412 ,-0.11122209,-0.02410833, 0.01809685, 0.30382908,
 -0.08793739,-0.01762851,-0.00371005, 0.49570019,-0.01326847,-0.01991242,
  1.38080695, 0.01885732, 1.3558134 , 0.0243756 , 0.0782529 ,-0.06406451,
  0.13197713, 0.98703289,-0.00786141,-0.10494667,-0.12120421]

qacc:
[-15.32512025,  2.869968  , 12.20536132,105.34055381,  3.84536442,
  23.86369173, 41.45524042,-73.46343301, -0.75279359, -7.10515824,
  12.0825805 , -5.0703482 , -0.81150824,  1.22779021, -1.98046309,
   7.3856984 , -2.33176994,  0.4784299 , -0.51477224,  2.39532951,
 -35.01423597, -3.3719377 ]

qfrc_actuator:
[-0.04613432, 0.35843897, 0.0954891 , 0.02603244,-0.02153917, 0.29747343,
  0.06920041, 0.02220871,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030841370993450897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78648454, -0.61199408, -0.08309822, -0.06558229, -0.05103212,
        0.99654136, -0.61411809,  0.78921415,  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([ 0.10721048, -0.03048976,  0.11603568])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.34741916, -0.27755482,  0.20895788, -0.27755482,  0.43935686,
        0.12211913,  0.20895788,  0.12211913,  0.5096277 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006646204079330705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95486218,  0.23998136, -0.17506333,  0.236047  ,  0.9707775 ,
        0.04327658,  0.18033311,  0.        , -0.9836056 ])
  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([ 0.09902399, -0.07666401,  0.11330943])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004648216442545289
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.47842349e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.47842349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07514013, -0.08140412,  0.06198597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06889195e-01, 2.31529020e-01, 1.29900259e-01, 4.38736817e-02,
 -4.14757928e-02, 1.57498011e-01, 8.56062910e-02, 2.98749108e-02,
 -5.56133402e-05,-8.88784232e-04,-2.46374730e-04,-4.44171879e-05,
 -2.12583223e-05, 5.19706345e-05, 1.53418400e-05, 4.07617338e-05,
  6.71068578e-03, 5.34639954e-03,-4.93716963e+00,-6.97893013e-03,
  4.94297867e-03, 1.73755452e-03]


--- Step 1849 ---
qpos:
[ 0.0490707 , 0.27097724,-0.11189511,-0.02444834, 0.01849764, 0.30658029,
 -0.08825279,-0.01778175,-0.00369974, 0.49920948,-0.01330936,-0.01992233,
  1.38088298, 0.01885854, 1.35590901, 0.02437716, 0.07783608,-0.06393949,
  0.1319655 , 0.98660546,-0.00848951,-0.10815336,-0.12182137]

qacc:
[-1.41766143e+01,-1.18077750e+01, 4.82392713e+01, 8.83882913e+01,
  1.92837147e+00, 1.68435935e+01, 5.81474894e+01,-9.05476352e+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,
 -2.39229241e+00, 4.92323210e-01,-5.58604346e-01, 2.77454579e+00,
 -3.56293995e+01,-2.24433503e+00]

qfrc_actuator:
[-0.04738998, 0.35830745, 0.09614833, 0.02639689,-0.02191112, 0.29857259,
  0.06957064, 0.02233493,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003076324398631048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7867789 , -0.61106294, -0.08706925, -0.0687654 , -0.05340762,
        0.99620226, -0.61339244,  0.78977827,  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([ 0.10697973, -0.03044413,  0.11604403])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.34005077, -0.27788925,  0.19599003, -0.27788925,  0.41486638,
        0.10607914,  0.19599003,  0.10607914,  0.49045768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000646557478969113
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53356291e-01,  2.40950026e-01, -1.81809976e-01,  2.36684536e-01,
        9.70537524e-01,  4.51369652e-02,  1.87329157e-01,  6.93889390e-18,
       -9.82297199e-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([ 0.0987472 , -0.07663381,  0.11330378])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004621692698492108
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35123751e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.35123751e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07513808, -0.08140824,  0.06198605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07866582e-01, 2.29596956e-01, 1.29387003e-01, 4.37145521e-02,
 -4.19426732e-02, 1.54758051e-01, 8.44520144e-02, 2.97914088e-02,
 -3.07957910e-05,-1.13663787e-03,-2.07190260e-04,-5.93315195e-05,
 -1.91999270e-05,-1.95705551e-05, 7.97046315e-06,-1.02700165e-04,
  7.19823701e-03, 5.43373908e-03,-4.93855139e+00,-6.94688586e-03,
  5.13793709e-03, 1.78501583e-03]


--- Step 1850 ---
qpos:
[ 0.05025365, 0.27345001,-0.11254008,-0.02477705, 0.01889676, 0.30939621,
 -0.0885392 ,-0.01793152,-0.00368918, 0.50271119,-0.0133501 ,-0.01993215,
  1.38095864, 0.01886019, 1.3560045 , 0.0243788 , 0.07740945,-0.06381252,
  0.13195149, 0.98615831,-0.00911965,-0.1114316 ,-0.12244027]

qacc:
[ -13.66995367,  -5.92318658,  44.37999223,  78.78793175,  -3.46410516,
   11.88169562,  67.20024934,-101.05903194,   0.24791845, -10.2519073 ,
   21.63320835, -14.6791851 ,  -0.53528244,   0.73712443,  -0.34492927,
    1.09304864,  -2.45326308,   0.48913632,  -0.59668826,   3.17355511,
  -36.48595057,  -2.24828014]

qfrc_actuator:
[-0.04859766, 0.35883482, 0.09683271, 0.02670912,-0.02229518, 0.29933221,
  0.0698654 , 0.02250514,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030676560849235658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78704251, -0.61012572, -0.09116301, -0.07204918, -0.05585347,
        0.99583598, -0.61267691,  0.79033347,  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([ 0.1067439 , -0.03039798,  0.11605251])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.333622  , -0.27946708,  0.18221358, -0.27946708,  0.38674105,
        0.08147048,  0.18221358,  0.08147048,  0.458576  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006309505212928476
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95213862,  0.24176263, -0.18703713,  0.23722882,  0.97033542,
        0.04660099,  0.19275513,  0.        , -0.98124689])
  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([ 0.09845796, -0.07660524,  0.11331932])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004590084670845207
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51171370e-14, -1.20937096e-13,  1.00000000e+00, -1.82822266e-27,
        1.00000000e+00,  1.20937096e-13, -1.00000000e+00,  0.00000000e+00,
       -1.51171370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07513595, -0.0814126 ,  0.06198614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08813142e-01, 2.28622922e-01, 1.28728405e-01, 4.34438762e-02,
 -4.23761782e-02, 1.51918243e-01, 8.32165907e-02, 2.97623801e-02,
  1.75201944e-05,-9.66673620e-04,-2.20513243e-04,-4.51524650e-05,
 -2.42541565e-05, 2.39820483e-05,-1.10321369e-05, 2.43511355e-06,
  7.71053817e-03, 5.49272953e-03,-4.93997847e+00,-6.91629353e-03,
  5.33757626e-03, 1.83282951e-03]


--- Step 1851 ---
qpos:
[ 0.05143132, 0.27597099,-0.11315657,-0.02509527, 0.01929241, 0.31227081,
 -0.08879711,-0.0180778 ,-0.00367858, 0.50620766,-0.01339151,-0.01994136,
  1.38103433, 0.01886209, 1.35609998, 0.02437983, 0.07697275,-0.06368365,
  0.13193495, 0.98569039,-0.00975102,-0.1147833 ,-0.12306162]

qacc:
[-1.35844891e+01, 6.14977217e+00, 2.66287185e+01, 7.34667973e+01,
 -7.05665483e+00, 5.39336471e+00, 7.87710141e+01,-1.07276010e+02,
  3.13608515e-02,-3.80457603e+00, 9.24714169e-01, 1.45518741e+01,
 -1.75996523e-01, 3.40404499e-01, 1.86638283e+00,-6.48214010e+00,
 -2.51543756e+00, 4.72872100e-01,-6.33663126e-01, 3.66223490e+00,
 -3.74388401e+01,-2.75132575e+00]

qfrc_actuator:
[-0.04973904, 0.35991534, 0.09748449, 0.0270034 ,-0.02270201, 0.2997412 ,
  0.07012167, 0.02268284,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030587614903520646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87267219e-01, -6.09191818e-01, -9.53711372e-02, -7.54263797e-02,
       -5.83653584e-02,  9.95441784e-01, -6.11981361e-01,  7.90872185e-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([ 0.10650213, -0.03035127,  0.11606148])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.3280135 , -0.28158402,  0.16823584, -0.28158402,  0.36776204,
        0.06652895,  0.16823584,  0.06652895,  0.43936604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006174136251037732
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95049506,  0.24282566, -0.1938939 ,  0.23792572,  0.97006995,
        0.04853507,  0.19987621,  0.        , -0.97982116])
  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([ 0.09816518, -0.07657357,  0.11331904])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004553219721457197
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57185969e-14,  1.21916258e-13,  1.00000000e+00, -5.57384028e-27,
        1.00000000e+00, -1.21916258e-13, -1.00000000e+00,  0.00000000e+00,
        4.57185969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07513375, -0.08141721,  0.06198625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09700763e-01, 2.27783824e-01, 1.27956319e-01, 4.31691860e-02,
 -4.27009647e-02, 1.48996716e-01, 8.19953448e-02, 2.97611235e-02,
  1.80270177e-06,-6.90837925e-04,-2.01367081e-04,-6.18164283e-06,
  1.13428040e-05, 2.17808065e-05,-7.02045266e-06,-3.32519635e-05,
  8.26035736e-03, 5.54639942e-03,-4.94146648e+00,-6.88560442e-03,
  5.54165134e-03, 1.88096037e-03]


--- Step 1852 ---
qpos:
[ 0.05260403, 0.27853873,-0.11374249,-0.0254026 , 0.01968258, 0.31519645,
 -0.08902637,-0.01822039,-0.00366749, 0.50969699,-0.0134324 ,-0.01995056,
  1.38111029, 0.0188637 , 1.35619552, 0.02437945, 0.07652574,-0.06355289,
  0.13191567, 0.98520094,-0.01038305,-0.11820992,-0.12368392]

qacc:
[ -12.61408717,  -0.59887627,  46.36213442,  58.25549117, -10.92518719,
   -4.65493242,  99.19824243,-119.16483137,   0.45532458, -10.85240987,
   24.98405951, -20.42756653,   0.26795392,  -0.39000207,   4.31380164,
  -15.02655327,  -2.57960595,   0.47456614,  -0.68225171,   4.12309021,
  -38.19520841,  -2.12154071]

qfrc_actuator:
[-0.05085627, 0.36041398, 0.09812283, 0.02730096,-0.02310228, 0.29972468,
  0.0703615 , 0.02281037,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030504661237871337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87443111e-01, -6.08273662e-01, -9.96819897e-02, -7.88868039e-02,
       -6.09374371e-02,  9.95019347e-01, -6.11318427e-01,  7.91384724e-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([ 0.10625334, -0.03030397,  0.11607143])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.32275626, -0.28277131,  0.15560203, -0.28277131,  0.35071219,
        0.05080353,  0.15560203,  0.05080353,  0.41508013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000604765983530105
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48775391e-01,  2.43882559e-01, -2.00864520e-01,  2.38594176e-01,
        9.69804773e-01,  5.05125923e-02,  2.07118510e-01,  6.93889390e-18,
       -9.78315860e-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([ 0.09786505, -0.07654175,  0.1133205 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004510907538106401
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69123934e-14, -2.46119659e-13,  1.00000000e+00,  1.89296520e-26,
        1.00000000e+00,  2.46119659e-13, -1.00000000e+00,  0.00000000e+00,
        7.69123934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07513147, -0.08142205,  0.06198638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10564174e-01, 2.25788441e-01, 1.27149198e-01, 4.29388115e-02,
 -4.29285545e-02, 1.45948814e-01, 8.07812997e-02, 2.97088244e-02,
  3.38285465e-05,-8.99717300e-04,-1.84268204e-04,-4.53759739e-05,
  1.79600656e-05,-1.50121489e-05,-8.79587013e-06,-7.53777221e-05,
  8.85527787e-03, 5.60523287e-03,-4.94302307e+00,-6.85411769e-03,
  5.75016564e-03, 1.92923635e-03]


--- Step 1853 ---
qpos:
[ 0.05377209, 0.28114931,-0.11429517,-0.02569833, 0.02006492, 0.31816765,
 -0.08922707,-0.01835923,-0.00365573, 0.51317477,-0.0134704 ,-0.01995943,
  1.38118596, 0.01886608, 1.3562911 , 0.02437754, 0.07606816,-0.06342021,
  0.13189346, 0.98468916,-0.01101525,-0.12171284,-0.12430568]

qacc:
[ -11.60656282, -11.55544577,  75.06198653,  40.15717558, -15.3868212 ,
  -11.40172297, 112.57934126,-127.36005183,   0.61921334, -22.66733403,
   57.31910627, -47.85600988,  -0.82115918,   1.26213928,   4.83075283,
  -16.56073219,  -2.64081176,   0.47756881,  -0.73434705,   4.55218812,
  -38.92394961,  -1.49980537]

qfrc_actuator:
[-0.05206372, 0.36038587, 0.09873961, 0.02757814,-0.02347748, 0.29949029,
  0.07059767, 0.02294171,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030425274948983876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87568373e-01, -6.07370270e-01, -1.04102899e-01, -8.24360643e-02,
       -6.35744353e-02,  9.94566532e-01, -6.10688426e-01,  7.91870979e-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([ 0.10599752, -0.03025607,  0.11608229])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.31742089, -0.28366596,  0.14244171, -0.28366596,  0.33532962,
        0.0356644 ,  0.14244171,  0.0356644 ,  0.38844486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005919501300077584
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46972614e-01,  2.44927429e-01, -2.07974573e-01,  2.39226054e-01,
        9.69541415e-01,  5.25389391e-02,  2.14508189e-01, -6.93889390e-18,
       -9.76722190e-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([ 0.09755808, -0.07650981,  0.11332312])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004463129336968602
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39924345e-13, -1.24377196e-13,  1.00000000e+00,  1.74033977e-26,
        1.00000000e+00,  1.24377196e-13, -1.00000000e+00,  0.00000000e+00,
        1.39924345e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07512913, -0.08142713,  0.06198652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11533236e-01, 2.23335386e-01, 1.26214603e-01, 4.26675718e-02,
 -4.30307411e-02, 1.43063651e-01, 7.95545433e-02, 2.96505293e-02,
  4.60005880e-05,-1.39149801e-03,-1.64912860e-04,-5.00784329e-05,
 -4.10701315e-06, 5.54339651e-05,-1.39493987e-05,-8.35198728e-05,
  9.48711938e-03, 5.64334401e-03,-4.94463679e+00,-6.82355249e-03,
  5.96349133e-03, 1.97764834e-03]


--- Step 1854 ---
qpos:
[ 0.05493552, 0.28380395,-0.11481327,-0.02598234, 0.02043671, 0.32118164,
 -0.0893992 ,-0.01849432,-0.00364399, 0.51663556,-0.01350451,-0.0199677 ,
  1.38126166, 0.01886861, 1.35638651, 0.02437535, 0.07559977,-0.06328571,
  0.13186813, 0.98415389,-0.0116467 ,-0.12529393,-0.12492763]

qacc:
[-1.14169816e+01,-1.33520296e+01, 8.33594735e+01, 3.07443374e+01,
 -2.04590252e+01,-1.49813387e+01, 1.19986461e+02,-1.32584551e+02,
  6.16988646e-03,-3.21064791e+01, 7.93191583e+01,-6.25352041e+01,
 -7.40044472e-02, 1.72165189e-01, 5.63331762e-01,-2.32289177e+00,
 -2.70196995e+00, 4.57689085e-01,-7.80897116e-01, 5.08119729e+00,
 -3.98638509e+01,-2.02748715e+00]

qfrc_actuator:
[-0.05325263, 0.3602577 , 0.09925754, 0.02785578,-0.02385083, 0.29923449,
  0.07085576, 0.02305605,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003034842949245589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78773704, -0.60635019, -0.1086729 , -0.08611568, -0.06628641,
        0.99407756, -0.60996266,  0.79243016,  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([ 0.10573383, -0.03020613,  0.11609361])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.31166832, -0.28364199,  0.12916795, -0.28364199,  0.32230448,
        0.02335613,  0.12916795,  0.02335613,  0.36295642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005781320465654646
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45080098e-01,  2.45954753e-01, -2.15243740e-01,  2.39813705e-01,
        9.69281311e-01,  5.46180146e-02,  2.22065294e-01, -6.93889390e-18,
       -9.75031797e-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([ 0.09724467, -0.0764778 ,  0.11332649])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004409874363196231
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72047047e-14, -1.25879213e-13,  1.00000000e+00,  5.94209106e-27,
        1.00000000e+00,  1.25879213e-13, -1.00000000e+00,  0.00000000e+00,
        4.72047047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07512672, -0.08143244,  0.06198668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12499913e-01, 2.20976999e-01, 1.25046494e-01, 4.23610890e-02,
 -4.30131161e-02, 1.40427869e-01, 7.83531083e-02, 2.95717246e-02,
 -2.25322210e-06,-2.05877886e-03,-2.65234170e-04,-6.82195642e-05,
  7.41971051e-06, 1.32803510e-05,-1.80672052e-05,-1.64611280e-05,
  1.01581375e-02, 5.65939989e-03,-4.94630774e+00,-6.79397746e-03,
  6.18165725e-03, 2.02620274e-03]


--- Step 1855 ---
qpos:
[ 0.05609405, 0.28651012,-0.1152968 ,-0.02625525, 0.02079288, 0.32424518,
 -0.08954622,-0.01862687,-0.00363265, 0.52007825,-0.01353768,-0.01997527,
  1.38133739, 0.01887053, 1.35648184, 0.02437271, 0.07512034,-0.0631495 ,
  0.1318395 , 0.9835937 ,-0.01227628,-0.12895527,-0.12555183]

qacc:
[ -11.92864531,  -4.9144913 ,  70.16846917,  27.80529836, -29.88967876,
    0.82299969,  81.69220091,-114.88889781,  -0.32949629, -25.07848403,
   51.79447533, -27.97453499,   0.35348929,  -0.72997986,   1.24338563,
   -4.62607035,  -2.76224178,   0.42497161,  -0.82297846,   5.65521424,
  -40.92541174,  -3.24867084]

qfrc_actuator:
[-0.05442856, 0.36065475, 0.09977256, 0.02812893,-0.02421723, 0.29971377,
  0.07106233, 0.02319419,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003026862920059937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78768589, -0.60556598, -0.11331721, -0.08983702, -0.06906591,
        0.99355886, -0.6094918 ,  0.79279237,  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([ 0.10546498, -0.03015812,  0.11610632])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.30528262, -0.28358736,  0.11302958, -0.28358736,  0.30864354,
        0.00843243,  0.11302958,  0.00843243,  0.32643931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005627657697238484
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94305595,  0.24706324, -0.2227223 ,  0.24044852,  0.96899936,
        0.05678692,  0.22984773,  0.        , -0.9732266 ])
  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([ 0.09692542, -0.0764446 ,  0.11332991])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004351031189357979
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07320097e-13, -1.27581598e-13,  1.00000000e+00,  2.64502293e-26,
        1.00000000e+00,  1.27581598e-13, -1.00000000e+00,  0.00000000e+00,
        2.07320097e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07512425, -0.08143799,  0.06198685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13454537e-01, 2.19081261e-01, 1.23808383e-01, 4.20442630e-02,
 -4.28517086e-02, 1.38665023e-01, 7.71000347e-02, 2.95160369e-02,
 -2.85048768e-05,-2.29006389e-03,-4.89695070e-04,-8.18591383e-05,
 -1.95573717e-05,-5.03611981e-05,-1.13219067e-05,-2.59220991e-05,
  1.08831539e-02, 5.67909003e-03,-4.94805163e+00,-6.76366027e-03,
  6.40449391e-03, 2.07469192e-03]


--- Step 1856 ---
qpos:
[ 0.05724721, 0.2892735 ,-0.11574623,-0.02651767, 0.02113262, 0.32736487,
 -0.0896694 ,-0.0187573 ,-0.00362167, 0.52350352,-0.01357153,-0.01998226,
  1.3814127 , 0.01887283, 1.35657723, 0.02436879, 0.07462962,-0.06301176,
  0.13180741, 0.9830071 ,-0.01290262,-0.13269901,-0.12618059]

qacc:
[-12.93755441,  2.52469948, 56.92081567, 27.49758428,-31.03775917,
  12.18223382, 55.43654912,-98.07826479, -0.29221305,-19.94271697,
  35.23793164,-11.26895508, -0.67836331,  0.83663461,  4.01408362,
 -13.71690843, -2.82201206,  0.38491603, -0.86644827,  6.30407   ,
 -41.98957225, -4.61838983]

qfrc_actuator:
[-0.05561235, 0.36137732, 0.10030749, 0.02843084,-0.02455241, 0.30046821,
  0.07119451, 0.02334633,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030192731439748588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78757644, -0.60479768, -0.11808101, -0.09365302, -0.07191826,
        0.99300397, -0.60905867,  0.79312517,  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([ 0.1051884 , -0.03010943,  0.11612018])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2985043 , -0.28313349,  0.09455286, -0.28313349,  0.30030925,
        0.00540483,  0.09455286,  0.00540483,  0.31468877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005463911437894809
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94024257,  0.24702122, -0.23435962,  0.23968777,  0.96901007,
        0.05974324,  0.24185468,  0.        , -0.97031248])
  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([ 0.09660801, -0.07642495,  0.1132873 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00042863255795376476
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85653302e-14, -2.59015094e-13,  1.00000000e+00,  1.25791536e-26,
        1.00000000e+00,  2.59015094e-13, -1.00000000e+00,  0.00000000e+00,
        4.85653302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07512171, -0.08144378,  0.06198704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14404588e-01, 2.17134527e-01, 1.22588801e-01, 4.17872214e-02,
 -4.24056104e-02, 1.36837184e-01, 7.59436872e-02, 2.95359180e-02,
 -2.54862671e-05,-2.25356037e-03,-5.72735508e-04,-8.88459556e-05,
 -3.41454085e-05, 1.66142634e-05,-9.65063994e-06,-6.86220130e-05,
  1.16734238e-02, 5.71919693e-03,-4.94987929e+00,-6.73148901e-03,
  6.63196656e-03, 2.12298589e-03]


--- Step 1857 ---
qpos:
[ 0.05839461, 0.29209567,-0.11616158,-0.02676983, 0.0214535 , 0.33053581,
 -0.08976875,-0.01888516,-0.00361018, 0.52691355,-0.01360715,-0.01998912,
  1.38148798, 0.01887515, 1.3566723 , 0.02436612, 0.07412733,-0.0628726 ,
  0.13177164, 0.98239262,-0.01352449,-0.13652731,-0.12681534]

qacc:
[-13.73009406,  4.2452316 , 54.80233095, 24.61307031,-35.09973222,
   6.67782128, 63.89598525,-95.60912014,  0.45145373,-14.91216369,
  23.41178148, -7.16140467,  0.09574016, -0.09644893, -4.25354545,
  14.15035427, -2.89073681,  0.35343105, -0.918137  ,  6.95682357,
 -43.09725598, -5.54144081]

qfrc_actuator:
[-0.05676292, 0.36196714, 0.10077   , 0.02871066,-0.02487956, 0.30072221,
  0.07129103, 0.0234885 ,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030123226780521374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87405055e-01, -6.04047263e-01, -1.22964155e-01, -9.75629922e-02,
       -7.48441453e-02,  9.92411113e-01, -6.08666363e-01,  7.93426278e-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([ 0.10490359, -0.03006001,  0.11613539])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.29123522, -0.28056262,  0.07811896, -0.28056262,  0.29144927,
        0.00076874,  0.07811896,  0.00076874,  0.29399615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005287204769388616
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9380075 ,  0.24794252, -0.24221154,  0.24006813,  0.96877475,
        0.0619902 ,  0.25001843,  0.        , -0.96824108])
  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([ 0.09627509, -0.07639387,  0.11329205])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00042154956932208276
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15223122e-13, -2.63367135e-13,  1.00000000e+00,  3.03459835e-26,
        1.00000000e+00,  2.63367135e-13, -1.00000000e+00,  0.00000000e+00,
        1.15223122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07511912, -0.08144982,  0.06198725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15298126e-01, 2.14769783e-01, 1.21319616e-01, 4.15377522e-02,
 -4.19103958e-02, 1.34176134e-01, 7.48147360e-02, 2.95653253e-02,
  3.49155024e-05,-2.00954190e-03,-5.78618842e-04,-1.01621041e-04,
 -2.18755417e-06, 7.37008914e-07,-1.48319575e-05, 6.39656842e-05,
  1.25349079e-02, 5.78428744e-03,-4.95179393e+00,-6.69718787e-03,
  6.86421726e-03, 2.17087756e-03]


--- Step 1858 ---
qpos:
[ 0.05953595, 0.29497154,-0.11654178,-0.02701121, 0.02175339, 0.33375161,
 -0.0898432 ,-0.0190097 ,-0.0035982 , 0.53030874,-0.01364401,-0.01999553,
  1.38156331, 0.01887725, 1.3567673 , 0.02436393, 0.07361322,-0.06273211,
  0.13173196, 0.98174893,-0.01414085,-0.14044205,-0.12745625]

qacc:
[-14.14443874, -4.31396495, 73.53309846, 16.35138221,-38.44366422,
  -3.08307966, 83.33656943,-99.06622376,  0.43430425,-15.24462519,
  24.02905482, -3.41060581,  0.21784601, -0.35122003, -1.60966309,
   5.41063782, -2.95701139,  0.33333548, -0.97876   ,  7.56858758,
 -44.06021147, -5.83660012]

qfrc_actuator:
[-0.0579265 , 0.36192024, 0.10115771, 0.02897325,-0.02519288, 0.30053413,
  0.07137439, 0.02360566,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003005901884756609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7871691 , -0.60331399, -0.12797279, -0.10157138, -0.07784787,
        0.99177768, -0.60831576,  0.79369512,  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([ 0.10461039, -0.03000986,  0.11615201])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.28331213, -0.27633509,  0.06248745, -0.27633509,  0.28284584,
       -0.00206205,  0.06248745, -0.00206205,  0.27419321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005092834584186353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93565447,  0.24885171, -0.25024696,  0.24040187,  0.9685416 ,
        0.06429707,  0.25837503,  0.        , -0.96604469])
  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([ 0.09593547, -0.07636293,  0.11329746])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00041383905647249253
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17369921e-13, -1.34137052e-13,  1.00000000e+00,  1.57436552e-26,
        1.00000000e+00,  1.34137052e-13, -1.00000000e+00,  0.00000000e+00,
        1.17369921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07511646, -0.08145611,  0.06198748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16184669e-01, 2.11685607e-01, 1.19976180e-01, 4.12821400e-02,
 -4.12792102e-02, 1.31316621e-01, 7.36724348e-02, 2.95481880e-02,
  3.38893277e-05,-1.93820240e-03,-5.29694013e-04,-8.04288035e-05,
 -2.53404809e-06,-1.70487494e-05,-7.20607456e-07, 2.57779681e-05,
  1.34689580e-02, 5.86460394e-03,-4.95379815e+00,-6.66142987e-03,
  7.10149818e-03, 2.21830162e-03]


--- Step 1859 ---
qpos:
[ 0.06067118, 0.29789424,-0.11688463,-0.02724098, 0.02202954, 0.33700945,
 -0.08989223,-0.01913049,-0.00358639, 0.53368588,-0.01367934,-0.02000242,
  1.38163852, 0.01887921, 1.35686244, 0.02436071, 0.07308704,-0.06259032,
  0.13168809, 0.98107486,-0.01475095,-0.14444471,-0.12810248]

qacc:
[-1.40654246e+01,-1.75066049e+01, 1.04057067e+02, 1.55753475e+00,
 -4.28405539e+01,-7.27958866e+00, 9.11209827e+01,-9.82144603e+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,
 -3.01595039e+00, 3.25614047e-01,-1.04728938e+00, 8.08678936e+00,
 -4.48496884e+01,-5.61505456e+00]

qfrc_actuator:
[-0.05907756, 0.36125986, 0.10152132, 0.02920314,-0.02547049, 0.30026196,
  0.07145699, 0.02368828,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029993895289685277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78686739, -0.60259306, -0.13312146, -0.1056896 , -0.08093844,
        0.99109973, -0.60800446,  0.79393361,  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([ 0.10430924, -0.02995902,  0.1161698 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2745621 , -0.27046459,  0.04725731, -0.27046459,  0.27384807,
       -0.00408655,  0.04725731, -0.00408655,  0.25117382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048722584497238247
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33173625e-01,  2.49745979e-01, -2.58483910e-01,  2.40683279e-01,
        9.68311389e-01,  6.66679312e-02,  2.66942962e-01, -6.93889390e-18,
       -9.63712330e-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([ 0.09558957, -0.07633216,  0.11330307])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00040549591810447316
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.84484711e-14,  1.36896942e-13,  1.00000000e+00, -9.37038638e-27,
        1.00000000e+00, -1.36896942e-13, -1.00000000e+00,  0.00000000e+00,
        6.84484711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07511374, -0.08146268,  0.06198772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17045126e-01, 2.08241232e-01, 1.18553459e-01, 4.09685356e-02,
 -4.05059789e-02, 1.28690431e-01, 7.24744517e-02, 2.94582277e-02,
 -1.29651369e-05,-2.27442483e-03,-4.54882003e-04,-1.39917876e-04,
 -1.94302501e-05,-1.67518958e-05, 7.27975872e-07,-5.48897354e-05,
  1.44728317e-02, 5.94461135e-03,-4.95588428e+00,-6.62527664e-03,
  7.34403793e-03, 2.26524718e-03]


--- Step 1860 ---
qpos:
[ 0.06178088, 0.30083463,-0.11722027,-0.0274582 , 0.02227304, 0.34031274,
 -0.08991111,-0.01924474,-0.00357434, 0.53704859,-0.01371561,-0.02001074,
  1.38171385, 0.0188803 , 1.35695739, 0.02435818, 0.07254837,-0.06245082,
  0.13164292, 0.98036227,-0.01533597,-0.14852835,-0.1288175 ]

qacc:
[-5.81845871e+01, 2.87425387e+01,-1.21464417e+02, 3.14271014e+02,
 -5.80762800e+01,-1.01583181e+01, 9.62664610e+01,-6.53061292e+01,
  2.22008055e-01,-1.94330266e+01, 4.76180663e+01,-6.02018580e+01,
  6.86331762e-01,-1.22142620e+00,-2.47544307e+00, 8.03633174e+00,
 -3.12420401e+00,-5.74092734e-01,-3.24911005e-01, 1.22379176e+01,
 -4.04013440e+01,-3.86187777e+01]

qfrc_actuator:
[-0.06021862, 0.36098016, 0.10190747, 0.02942602,-0.02573327, 0.29987097,
  0.07151091, 0.02376616,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029920900315959483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78649836, -0.6018794 , -0.13842515, -0.10992946, -0.08412513,
        0.9903729 , -0.60773008,  0.79414366,  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([ 0.10400067, -0.02990754,  0.11618847])
  solimp: array([9.0e-01, 9.5e-01, 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([ 2.65520140e-01, -2.63698337e-01,  3.10504736e-02, -2.63698337e-01,
        2.65543267e-01,  1.96407719e-04,  3.10504736e-02,  1.96407719e-04,
        2.67188146e-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: -0.0004620193470774644
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93055696,  0.25062128, -0.26693204,  0.24090584,  0.96808521,
        0.0691043 ,  0.27573197,  0.        , -0.96123456])
  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([ 0.09523757, -0.07630167,  0.11330863])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.97787174,  0.92891243,  4.89043237,  0.92891243, 24.23033852,
       -3.65690684,  4.89043237, -3.65690684,  5.67248235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004040695358536184
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.86900970e-14, -1.37380194e-13,  1.00000000e+00, -9.43665885e-27,
        1.00000000e+00,  1.37380194e-13, -1.00000000e+00,  0.00000000e+00,
       -6.86900970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07521258, -0.07466494,  0.06198776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17891917e-01, 2.05518745e-01, 1.17042171e-01, 4.06055918e-02,
 -3.95797191e-02, 1.26084814e-01, 7.12216830e-02, 2.93418338e-02,
  1.69287791e-05,-1.89120715e-03,-5.05090033e-04,-1.73153606e-04,
 -1.94200485e-05,-7.00463743e-05,-8.41211024e-06, 3.58780275e-05,
  1.55438014e-02, 6.01039742e-03,-4.95804301e+00,-6.58966506e-03,
  7.59195568e-03, 2.31180470e-03]


--- Step 1861 ---
qpos:
[ 0.06286608, 0.30379368,-0.11754049,-0.02766106, 0.02248431, 0.34365849,
 -0.08989913,-0.01935191,-0.00356206, 0.54040113,-0.01375445,-0.02001948,
  1.38178904, 0.01888092, 1.35705195, 0.02435881, 0.07199711,-0.06231288,
  0.13159564, 0.97961265,-0.01589822,-0.15269422,-0.12957925]

qacc:
[-5.49438801e+01, 1.13099930e+01,-6.48092228e+01, 2.74694728e+02,
 -5.64237449e+01,-1.49266653e+01, 1.05325562e+02,-6.41883169e+01,
  1.98387791e-01,-7.09234631e+00, 7.61689218e+00,-3.42224348e+00,
  4.54169188e-01,-7.97679256e-01,-1.02025345e+01, 3.46752263e+01,
 -3.14575455e+00,-3.88267029e-01,-5.27353477e-01, 1.27033079e+01,
 -4.12273805e+01,-2.76116729e+01]

qfrc_actuator:
[-0.06131406, 0.36093926, 0.10225133, 0.02971012,-0.02600425, 0.29903339,
  0.07151498, 0.02387241,-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002980020854244177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.86102633e-01, -6.01097530e-01, -1.43959751e-01, -1.14358348e-01,
       -8.74447146e-02,  9.89583544e-01, -6.07424743e-01,  7.94377229e-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([ 0.10368885, -0.02985591,  0.11620589])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.25667958, -0.25626255,  0.0146257 , -0.25626255,  0.25664804,
       -0.00055255,  0.0146257 , -0.00055255,  0.24699821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004342465679065567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9293848 ,  0.24787737, -0.27349718,  0.23779469,  0.96879142,
        0.06997766,  0.2823076 ,  0.        , -0.95932394])
  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([ 0.09486004, -0.07631422,  0.11333907])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.9841265 ,  2.16849314, -4.48766693,  2.16849314, 34.40018055,
       14.21418129, -4.48766693, 14.21418129, 11.85258511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040525852246671434
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05465702e-13, -2.73954269e-13,  1.00000000e+00,  5.62882063e-26,
        1.00000000e+00,  2.73954269e-13, -1.00000000e+00,  0.00000000e+00,
        2.05465702e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07521773, -0.07466904,  0.06198772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17718744e-01, 2.04490456e-01, 1.16994818e-01, 4.02568192e-02,
 -3.82138421e-02, 1.22860073e-01, 6.96812064e-02, 2.91140960e-02,
  1.59074626e-05,-1.38537253e-03,-4.77357831e-04,-9.91197985e-05,
 -3.18127694e-05,-4.48223178e-05,-1.08946145e-06, 1.66911377e-04,
  1.69340764e-02, 6.94022347e-03,-4.96017407e+00,-6.49808848e-03,
  7.84123513e-03, 2.34874525e-03]


--- Step 1862 ---
qpos:
[ 0.06392825, 0.30677637,-0.11783688,-0.02784823, 0.02266165, 0.34703874,
 -0.0898573 ,-0.01945141,-0.00355063, 0.54374091,-0.0137928 ,-0.02002772,
  1.38186401, 0.01888105, 1.35714663, 0.02436006, 0.07143319,-0.06217584,
  0.1315455 , 0.97882707,-0.01643979,-0.15694323,-0.1303692 ]

qacc:
[-5.08666947e+01,-2.43740189e+00,-1.15372751e+01, 2.26745932e+02,
 -5.85131075e+01,-2.13396940e+01, 1.10436853e+02,-5.14737650e+01,
 -6.96865432e-01,-1.71906085e+01, 3.46675286e+01,-1.72389183e+01,
  1.59279508e-01,-5.24079995e-01,-1.76035185e+00, 6.35065628e+00,
 -3.16562163e+00,-2.27246098e-01,-7.16498071e-01, 1.30803616e+01,
 -4.19051700e+01,-1.83782097e+01]

qfrc_actuator:
[-6.23729595e-02, 3.60358996e-01, 1.02505478e-01, 2.99175908e-02,
 -2.62320086e-02, 2.97717404e-01, 7.14941113e-02, 2.40102963e-02,
 -1.04869211e-03, 1.84406288e-01, 3.47673584e-03, 5.52855438e-04,
  3.44551719e-04,-1.39673444e-03, 0.00000000e+00,-9.21803721e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002963514683112622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78566144, -0.60026699, -0.14971854, -0.11896903, -0.09089562,
        0.98872866, -0.60710994,  0.79461785,  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([ 0.10337334, -0.02980427,  0.11622226])
  solimp: array([9.0e-01, 9.5e-01, 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([ 2.47994978e-01, -2.47994521e-01, -4.75987966e-04, -2.47994521e-01,
        2.47994875e-01,  5.37707962e-05, -4.75987966e-04,  5.37707962e-05,
        2.19979852e-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: -0.00040315520784746145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92647172,  0.24885276, -0.28235164,  0.23804358,  0.96854133,
        0.07254619,  0.29152255,  0.        , -0.95656396])
  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([ 0.09449506, -0.07628335,  0.11334519])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.97602763,  2.51987733, -4.29081219,  2.51987733, 34.97186651,
       17.61574058, -4.29081219, 17.61574058, 15.3212731 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004037177905011208
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.37499889e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.37499889e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07522109, -0.07467379,  0.06198776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17561309e-01, 2.02874045e-01, 1.16446996e-01, 3.97404126e-02,
 -3.68267824e-02, 1.19305042e-01, 6.80799072e-02, 2.88913137e-02,
 -6.12336542e-05,-1.62008663e-03,-3.55761912e-04,-5.72209912e-05,
 -4.21252319e-05,-5.03880106e-05, 1.66496603e-05, 3.54474713e-05,
  1.82962446e-02, 7.60043090e-03,-4.96232347e+00,-6.42585743e-03,
  8.09850982e-03, 2.38520509e-03]


--- Step 1863 ---
qpos:
[ 0.06496897, 0.30979382,-0.11810171,-0.02801922, 0.02280384, 0.35044731,
 -0.08978589,-0.0195425 ,-0.00354025, 0.54706334,-0.01382834,-0.0200356 ,
  1.38193894, 0.01888028, 1.35724161, 0.02435964, 0.07085655,-0.0620392 ,
  0.13149179, 0.97800612,-0.01696235,-0.16127616,-0.1311728 ]

qacc:
[-4.66770196e+01,-8.12478884e+00, 2.81859522e+01, 1.74586946e+02,
 -5.97108085e+01,-2.71845662e+01, 1.16425504e+02,-4.01254443e+01,
 -8.50875703e-01,-3.00468607e+01, 7.23788449e+01,-5.80425117e+01,
  3.31632058e-01,-9.02327556e-01, 5.49516187e+00,-1.86797768e+01,
 -3.18202279e+00,-9.85262535e-02,-8.90483169e-01, 1.34074848e+01,
 -4.24965671e+01,-1.11720168e+01]

qfrc_actuator:
[-6.34193502e-02, 3.59886491e-01, 1.02797735e-01, 3.00720240e-02,
 -2.64192474e-02, 2.96140846e-01, 7.14469434e-02, 2.41282155e-02,
 -1.11535247e-03, 1.83351858e-01, 3.54306558e-03, 5.54334244e-04,
  3.36922903e-04,-1.44925910e-03, 0.00000000e+00,-1.01323385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029432452583641913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78515684, -0.5994079 , -0.15568851, -0.12374886, -0.09447291,
        0.9878062 , -0.60680719,  0.79484907,  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([ 0.10305328, -0.02975267,  0.11623803])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2395088 , -0.23907027, -0.01448696, -0.23907027,  0.23935396,
        0.00255528, -0.01448696,  0.00255528,  0.19734045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036800380340159486
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9233932 ,  0.24985143, -0.29140909,  0.23826797,  0.96828419,
        0.07519381,  0.30095409,  0.        , -0.95363863])
  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([ 0.09412448, -0.07625258,  0.11335113])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.95568297,  2.81129395, -4.08110525,  2.81129395, 34.84397042,
       20.58872699, -4.08110525, 20.58872699, 19.13835168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003998006360785705
  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([ 0.07522305, -0.07467917,  0.06198787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17464958e-01, 2.01115268e-01, 1.15516643e-01, 3.91047162e-02,
 -3.53132373e-02, 1.15885633e-01, 6.65013339e-02, 2.86181003e-02,
 -7.60749219e-05,-2.13991864e-03,-3.47600867e-04,-8.78096754e-05,
 -3.90159555e-05,-7.81733037e-05, 8.40451154e-06,-8.80408784e-05,
  1.96454412e-02, 8.01889108e-03,-4.96449001e+00,-6.37055240e-03,
  8.36281742e-03, 2.42123123e-03]


--- Step 1864 ---
qpos:
[ 0.06598949, 0.3128654 ,-0.11832974,-0.02817487, 0.02290485, 0.35389804,
 -0.08969417,-0.01962703,-0.00353043, 0.55037169,-0.01386477,-0.02004369,
  1.38201335, 0.01888004, 1.3573364 , 0.02436015, 0.0702671 ,-0.06190263,
  0.13143392, 0.97714963,-0.01746679,-0.16569408,-0.131981  ]

qacc:
[-4.33219071e+01, 1.08443315e+00, 3.59357724e+01, 1.30077094e+02,
 -6.89854768e+01, 1.26934913e+01, 8.16993999e+00, 4.17684742e+01,
 -4.38828370e-01,-1.65796244e+01, 3.30137331e+01,-2.49015582e+01,
 -6.34734512e-01, 8.46806096e-01,-3.06086120e+00, 1.04492128e+01,
 -3.20056849e+00,-1.82330224e-02,-1.04228545e+00, 1.37657881e+01,
 -4.31973274e+01,-6.76531737e+00]

qfrc_actuator:
[-6.44683503e-02, 3.60168170e-01, 1.03095586e-01, 3.02233778e-02,
 -2.65673726e-02, 2.96406382e-01, 7.13368296e-02, 2.42481196e-02,
 -1.14111452e-03, 1.82891863e-01, 3.57764658e-03, 5.58163916e-04,
  3.34976421e-04,-1.39116732e-03, 0.00000000e+00,-9.60398654e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002920339298663684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78457163, -0.59854189, -0.16184858, -0.12867835, -0.09816743,
        0.9868156 , -0.60653873,  0.79505394,  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([ 0.10272726, -0.02970108,  0.11625393])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2313391 , -0.22932778, -0.03043925, -0.22932778,  0.23019711,
        0.0086037 , -0.03043925,  0.0086037 ,  0.16651925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003280536434924935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20146878e-01,  2.50841434e-01, -3.00679726e-01,  2.38434134e-01,
        9.68028189e-01,  7.79139850e-02,  3.10610507e-01, -1.38777878e-17,
       -9.50537276e-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([ 0.09374873, -0.07622227,  0.11335643])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.92522144,  3.0423157 , -3.8732572 ,  3.0423157 , 34.23274874,
       23.02009548, -3.8732572 , 23.02009548, 23.00674672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000393806251436396
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.04802819e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.04802819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0752239 , -0.07468512,  0.06198804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17450711e-01, 1.99553311e-01, 1.14204092e-01, 3.84416288e-02,
 -3.36986826e-02, 1.14616670e-01, 6.48733210e-02, 2.83108143e-02,
 -3.99127616e-05,-1.83508771e-03,-4.86567692e-04,-1.07996814e-04,
 -3.88802022e-05, 2.47366878e-05,-9.00281682e-06, 4.83108563e-05,
  2.10008485e-02, 8.23640670e-03,-4.96667749e+00,-6.32907783e-03,
  8.63330691e-03, 2.45680226e-03]


--- Step 1865 ---
qpos:
[ 0.06699109, 0.31600075,-0.11851586,-0.02831548, 0.02296492, 0.35740476,
 -0.08958439,-0.0197058 ,-0.00352041, 0.55367047,-0.0139035 ,-0.0200516 ,
  1.38208704, 0.01888091, 1.35743117, 0.02436094, 0.06966476,-0.06176589,
  0.13137129, 0.97625717,-0.01795371,-0.170198  ,-0.13278643]

qacc:
[-3.99636739e+01,-9.55217413e-01, 6.30305295e+01, 8.23643069e+01,
 -6.75994504e+01, 3.52785409e+01,-4.26367676e+01, 7.23170212e+01,
  1.57078334e-01,-5.80688561e+00, 1.58085404e+00, 1.23338947e+01,
 -1.22142321e+00, 1.78071868e+00,-7.19859766e-01, 2.82698099e+00,
 -3.22227969e+00, 4.45013646e-02,-1.18784619e+00, 1.41473390e+01,
 -4.38665611e+01,-3.21476020e+00]

qfrc_actuator:
[-6.54938372e-02, 3.60141222e-01, 1.03325676e-01, 3.03317370e-02,
 -2.66541904e-02, 2.97645475e-01, 7.12396377e-02, 2.43144258e-02,
 -1.12466892e-03, 1.82827698e-01, 3.61349142e-03, 5.99329683e-04,
  3.09854716e-04,-1.32101836e-03, 0.00000000e+00,-9.47216803e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002896453278201227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7838897 , -0.59769222, -0.16816941, -0.13373085, -0.10196573,
        0.98575811, -0.60632747,  0.79521507,  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([ 0.10239319, -0.02964937,  0.11627102])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.22387135, -0.21931024, -0.04495998, -0.21931024,  0.22091152,
        0.01443774, -0.04495998,  0.01443774,  0.15344554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028388131036221996
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91673448,  0.25180542, -0.31014822,  0.23852448,  0.96777788,
        0.08069724,  0.3204746 ,  0.        , -0.94725711])
  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([ 0.09336713, -0.07619293,  0.11336166])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00038596388793063485
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.6068232e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.6068232e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0752239 , -0.07469159,  0.06198827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17476880e-01, 1.96711621e-01, 1.12561349e-01, 3.77767716e-02,
 -3.17204857e-02, 1.13626996e-01, 6.37207564e-02, 2.80412348e-02,
  1.30153940e-05,-1.29769953e-03,-4.39939410e-04,-6.27665393e-05,
 -3.81971254e-05, 6.90501852e-05,-1.14089877e-06, 1.42012040e-05,
  2.23939461e-02, 8.32214990e-03,-4.96890571e+00,-6.29660031e-03,
  8.90931024e-03, 2.49172555e-03]


--- Step 1866 ---
qpos:
[ 0.06797455, 0.3191984 ,-0.11865551,-0.02844054, 0.02298823, 0.36096045,
 -0.08945057,-0.01977709,-0.00350965, 0.55695842,-0.01394097,-0.02005917,
  1.3821606 , 0.01888164, 1.35752594, 0.02436154, 0.06904942,-0.06162881,
  0.13130335, 0.97532785,-0.01842332,-0.17478924,-0.13358473]

qacc:
[-3.76826931e+01,-1.42267003e+01, 1.05656847e+02, 4.18627642e+01,
 -5.97292681e+01, 1.31964921e+01, 1.56048575e+01, 3.90832635e+01,
  6.21340630e-01,-1.71637102e+01, 3.90107234e+01,-2.72837316e+01,
 -3.87746404e-02,-7.87488522e-02, 5.79414629e-01,-2.02021642e+00,
 -3.25113697e+00, 8.18803710e-02,-1.32763186e+00, 1.45246120e+01,
 -4.46790165e+01,-1.22801434e+00]

qfrc_actuator:
[-6.64984162e-02, 3.59311980e-01, 1.03530785e-01, 3.04794755e-02,
 -2.66879904e-02, 2.97627255e-01, 7.11798296e-02, 2.44177688e-02,
 -1.08341355e-03, 1.82398565e-01, 3.72288958e-03, 6.27081160e-04,
  2.92167433e-04,-1.35096293e-03, 0.00000000e+00,-9.57541243e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028728117059114216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78103723, -0.5998608 , -0.17363141, -0.13770422, -0.10576111,
        0.98481071, -0.6091128 ,  0.7930836 ,  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([ 0.10207262, -0.02963153,  0.11630112])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2174262 , -0.20964035, -0.0576635 , -0.20964035,  0.212328  ,
        0.01853493, -0.0576635 ,  0.01853493,  0.15004095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023644788133514346
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13159346e-01,  2.52730677e-01, -3.19792453e-01,  2.38526753e-01,
        9.67536669e-01,  8.35331266e-02,  3.30522308e-01,  1.38777878e-17,
       -9.43798180e-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([ 0.09297865, -0.07616481,  0.11336765])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00037647449836863967
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.45093592e-14, -1.47449964e-13,  1.00000000e+00, -9.51190270e-27,
        1.00000000e+00,  1.47449964e-13, -1.00000000e+00,  0.00000000e+00,
       -6.45093592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07522322, -0.07469854,  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:
[-1.17546910e-01, 1.92583728e-01, 1.10637095e-01, 3.71662771e-02,
 -2.97009679e-02, 1.10687447e-01, 6.27174805e-02, 2.78492147e-02,
  5.38362791e-05,-1.35006208e-03,-2.47896459e-04,-5.06372150e-05,
 -2.02490327e-05,-1.70019658e-05,-2.29566461e-06,-1.04065032e-05,
  2.38354902e-02, 8.29353125e-03,-4.97117659e+00,-6.27179252e-03,
  9.19050136e-03, 2.52585214e-03]


--- Step 1867 ---
qpos:
[ 0.06894009, 0.32246689,-0.11874674,-0.02855087, 0.02297385, 0.3645566 ,
 -0.08929307,-0.01983977,-0.0034985 , 0.56023593,-0.01397734,-0.02006652,
  1.38223442, 0.01888131, 1.35762062, 0.02436233, 0.06842093,-0.06149145,
  0.13122962, 0.97435995,-0.01887487,-0.17946967,-0.1343766 ]

qacc:
[-3.66774309e+01,-1.01314722e+01, 1.10852049e+02, 1.31789445e+01,
 -6.02939338e+01, 5.32959839e+00, 2.25444032e+01, 5.86385070e+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,
 -3.28493785e+00, 7.27899040e-02,-1.44932903e+00, 1.49715505e+01,
 -4.57152680e+01,-1.84455929e+00]

qfrc_actuator:
[-6.75191729e-02, 3.58935954e-01, 1.03664077e-01, 3.06265669e-02,
 -2.67132940e-02, 2.96981278e-01, 7.10227442e-02, 2.45570639e-02,
 -1.08116914e-03, 1.82004082e-01, 3.82051066e-03, 6.46560292e-04,
  2.94891344e-04,-1.42239624e-03, 0.00000000e+00,-9.46108662e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028484163524302186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80101383e-01, -5.99140723e-01, -1.80200514e-01, -1.42914191e-01,
       -1.09762286e-01,  9.83629897e-01, -6.09111949e-01,  7.93084254e-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([ 0.10172045, -0.02958024,  0.11632245])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2120547 , -0.19995395, -0.07060889, -0.19995395,  0.20317051,
        0.02515871, -0.07060889,  0.02515871,  0.14080894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018520925812617
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09414832e-01,  2.53606132e-01, -3.29618860e-01,  2.38427968e-01,
        9.67307567e-01,  8.64185982e-02,  3.40759104e-01,  1.38777878e-17,
       -9.40150644e-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([ 0.09258355, -0.07613788,  0.11337413])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00036551715093693926
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99329596e-13, -6.07480673e-13,  1.00000000e+00,  1.21088877e-25,
        1.00000000e+00,  6.07480673e-13, -1.00000000e+00,  0.00000000e+00,
        1.99329596e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.075222  , -0.07470591,  0.06198887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17672652e-01, 1.88979162e-01, 1.08411786e-01, 3.65295925e-02,
 -2.78825719e-02, 1.07468547e-01, 6.13177312e-02, 2.76069636e-02,
  2.72458615e-05,-1.30398420e-03,-2.46259032e-04,-5.42418062e-05,
 -1.11083478e-05,-8.13436694e-05,-4.48919956e-06, 1.00414465e-05,
  2.53476371e-02, 8.19171709e-03,-4.97350667e+00,-6.25178160e-03,
  9.47660131e-03, 2.55908768e-03]


--- Step 1868 ---
qpos:
[ 0.06988762, 0.3258194 ,-0.11878922,-0.02864813, 0.02292177, 0.36819093,
 -0.08911001,-0.0198928 ,-0.00348716, 0.56350333,-0.01401358,-0.02007299,
  1.38230836, 0.01888011, 1.35771538, 0.02436224, 0.06777919,-0.06135393,
  0.13114964, 0.97335138,-0.01930704,-0.18424111,-0.13516488]

qacc:
[-3.63007645e+01, 2.71428590e+00, 9.70981858e+01,-1.15984212e+01,
 -5.93834090e+01,-7.62075049e-01, 3.56580581e+01, 6.16782565e+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,
 -3.31566273e+00, 3.81082239e-02,-1.56195056e+00, 1.54951222e+01,
 -4.67235185e+01,-3.57781068e+00]

qfrc_actuator:
[-6.85070889e-02, 3.59348725e-01, 1.03786992e-01, 3.07501172e-02,
 -2.67001107e-02, 2.96196117e-01, 7.08335284e-02, 2.45895267e-02,
 -1.08450953e-03, 1.81598815e-01, 3.85746096e-03, 6.96558696e-04,
  2.99180047e-04,-1.46448432e-03, 0.00000000e+00,-9.92944244e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002824298859651714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.81082943e-01, -5.95445051e-01, -1.88028263e-01, -1.49532793e-01,
       -1.13993734e-01,  9.82163618e-01, -6.06258510e-01,  7.95267640e-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([ 0.10133568, -0.02949434,  0.1163337 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20784395, -0.19098858, -0.08199068, -0.19098858,  0.19443661,
        0.03123097, -0.08199068,  0.03123097,  0.13509472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001290815610492162
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90548798,  0.25442893, -0.3396431 ,  0.23822187,  0.96709148,
        0.08935559,  0.35120059,  0.        , -0.93630024])
  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([ 0.09218254, -0.07611215,  0.11338043])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00035321617044424547
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.84020189e-14,  1.57159145e-13,  1.00000000e+00, -1.38931857e-26,
        1.00000000e+00, -1.57159145e-13, -1.00000000e+00,  0.00000000e+00,
        8.84020189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07522037, -0.07471367,  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:
[-1.17776722e-01, 1.85733385e-01, 1.06077004e-01, 3.59100553e-02,
 -2.59785075e-02, 1.04535194e-01, 5.99021938e-02, 2.72004796e-02,
  1.35744232e-05,-1.28830953e-03,-2.97178422e-04,-2.17326796e-05,
 -1.98884950e-05,-7.01063308e-05,-2.23809397e-06,-4.71696664e-05,
  2.69670602e-02, 8.09337596e-03,-4.97592503e+00,-6.23141968e-03,
  9.76756888e-03, 2.59113588e-03]


--- Step 1869 ---
qpos:
[ 0.0708169 , 0.32925747,-0.11878222,-0.02873302, 0.02283284, 0.37186101,
 -0.08889812,-0.01993503,-0.00347598, 0.56676121,-0.0140502 ,-0.02008   ,
  1.38238207, 0.01887903, 1.35780996, 0.02436293, 0.06712407,-0.06121637,
  0.13106294, 0.97230015,-0.01971872,-0.18910511,-0.13595164]

qacc:
[-3.62216504e+01, 1.31087156e+00, 1.08073407e+02,-3.70648135e+01,
 -5.71240421e+01,-1.04761724e+01, 6.08361458e+01, 5.31449963e+01,
 -1.15463593e-01,-1.26466275e+01, 2.91640846e+01,-3.11004184e+01,
 -1.83954836e-01, 2.13072611e-01,-2.60721346e+00, 8.77145288e+00,
 -3.34239162e+00, 1.11042530e-02,-1.67907694e+00, 1.59562757e+01,
 -4.76034994e+01,-4.92804691e+00]

qfrc_actuator:
[-6.94147917e-02, 3.59394410e-01, 1.03866240e-01, 3.08375573e-02,
 -2.66309911e-02, 2.95100516e-01, 7.06846895e-02, 2.45889303e-02,
 -1.10891665e-03, 1.81244188e-01, 3.87629949e-03, 6.75356811e-04,
  3.04410887e-04,-1.43547411e-03, 0.00000000e+00,-9.49468159e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028012981848636884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77996457, -0.59468937, -0.19493544, -0.15501656, -0.11819345,
        0.98081608, -0.60632099,  0.79522001,  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([ 0.10096122, -0.02944106,  0.11635975])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20504705, -0.18278795, -0.09291317, -0.18278795,  0.18612174,
        0.03723173, -0.09291317,  0.03723173,  0.1318011 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.770643742390971e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01368573e-01,  2.55202566e-01, -3.49866183e-01,  2.37909319e-01,
        9.66887610e-01,  9.23444946e-02,  3.61847829e-01,  1.38777878e-17,
       -9.32237174e-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([ 0.09177575, -0.07608756,  0.11338639])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00033966472892803246
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73643576e-13, -3.26858496e-13,  1.00000000e+00,  5.67568781e-26,
        1.00000000e+00,  3.26858496e-13, -1.00000000e+00,  0.00000000e+00,
        1.73643576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07521841, -0.07472178,  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:
[-1.17797211e-01, 1.81459314e-01, 1.03681430e-01, 3.53370799e-02,
 -2.40174349e-02, 1.01404141e-01, 5.84323022e-02, 2.67099500e-02,
 -1.17027645e-05,-1.23751935e-03,-3.17037756e-04,-9.33612779e-05,
 -2.07511485e-05, 2.60330972e-06,-8.25633363e-06, 4.00993964e-05,
  2.87117767e-02, 8.03369563e-03,-4.97843841e+00,-6.20840263e-03,
  1.00635910e-02, 2.62168673e-03]


--- Step 1870 ---
qpos:
[ 0.07172728, 0.33277546,-0.11872541,-0.02880568, 0.02270608, 0.37556171,
 -0.08865783,-0.01996538,-0.00346499, 0.57000943,-0.01408688,-0.02008873,
  1.38245557, 0.01887822, 1.35790464, 0.02436278, 0.06645547,-0.06107892,
  0.13096907, 0.97120398,-0.02010852,-0.19406335,-0.13674024]

qacc:
[-3.68318430e+01,-7.15565469e+00, 1.28136998e+02,-5.61012446e+01,
 -5.77255147e+01,-1.39072529e+01, 5.87467202e+01, 7.79964450e+01,
 -1.40603465e-01,-1.61503452e+01, 4.62685123e+01,-6.86599998e+01,
 -3.97705015e-01, 5.19112618e-01, 2.74626891e+00,-9.28008803e+00,
 -3.37227002e+00,-2.65276932e-02,-1.79292766e+00, 1.64227226e+01,
 -4.85619733e+01,-6.94135801e+00]

qfrc_actuator:
[-7.03379184e-02, 3.58740863e-01, 1.03810288e-01, 3.09343093e-02,
 -2.65673435e-02, 2.93628264e-01, 7.04933420e-02, 2.46522365e-02,
 -1.12794058e-03, 1.80852388e-01, 3.90248206e-03, 5.94763469e-04,
  2.99582393e-04,-1.41771707e-03, 0.00000000e+00,-9.95134719e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002779340653419695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.78721730e-01, -5.93966352e-01, -2.01981286e-01, -1.60597225e-01,
       -1.22494781e-01,  9.79389381e-01, -6.06465991e-01,  7.95109428e-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([ 0.10057515, -0.02938728,  0.11638895])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20400331, -0.17486393, -0.1050712 , -0.17486393,  0.17701595,
        0.0449135 , -0.1050712 ,  0.0449135 ,  0.12925637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.8986332553372e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97047080e-01,  2.55929215e-01, -3.60287071e-01,  2.37490036e-01,
        9.66695524e-01,  9.53847254e-02,  3.72699637e-01,  1.38777878e-17,
       -9.27952036e-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([ 0.09136324, -0.07606406,  0.11339191])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00032495479027948304
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.3383533e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.3383533e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07521619, -0.07473023,  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:
[-1.17820534e-01, 1.76404483e-01, 1.01112144e-01, 3.48081483e-02,
 -2.21045901e-02, 9.80154282e-02, 5.67566823e-02, 2.62246740e-02,
 -1.41938239e-05,-1.25296256e-03,-3.03962948e-04,-1.52626890e-04,
 -1.43232032e-05, 1.38925471e-05,-1.22136567e-06,-4.49155691e-05,
  3.05818670e-02, 8.00242319e-03,-4.98103789e+00,-6.18344731e-03,
  1.03647609e-02, 2.65079097e-03]


--- Step 1871 ---
qpos:
[ 0.07263095, 0.3363838 ,-0.11860351,-0.02886773, 0.02224345, 0.37985219,
 -0.08786191,-0.01961119,-0.00345367, 0.57324745,-0.01412315,-0.02009741,
  1.38252895, 0.01887738, 1.35799934, 0.02436174, 0.06577744,-0.06094101,
  0.13086802, 0.97007547,-0.02048175,-0.19908092,-0.13748046]

qacc:
[-1.27862834e+01,-3.85318944e+01, 2.67334104e+02,-2.56316064e+02,
 -5.04201861e+02, 2.53328227e+01,-5.74416985e+02, 5.89730945e+03,
  2.68014522e-01,-1.44760596e+01, 3.18269254e+01,-2.40284481e+01,
 -1.65920095e-01, 1.35681399e-01, 2.71940725e+00,-9.42703088e+00,
 -2.35709359e+00, 1.11817795e-01,-1.79479744e+00, 1.64734703e+01,
 -3.13040616e+01, 1.90740497e+01]

qfrc_actuator:
[-7.12623641e-02, 3.57905484e-01, 1.03724110e-01, 3.10318387e-02,
 -2.64735143e-02, 2.92346928e-01, 7.02831280e-02, 2.47307468e-02,
 -1.10813360e-03, 1.80424479e-01, 3.95064295e-03, 6.04182417e-04,
  2.88724790e-04,-1.42464054e-03, 0.00000000e+00,-1.03971981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027577722913255443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.777353  , -0.59326727, -0.20917997, -0.16628539, -0.12690718,
        0.97787716, -0.60668895,  0.79493931,  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([ 0.100178  , -0.02933305,  0.11642109])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003091571937794968
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90778670e-13,  1.79556395e-13,  1.00000000e+00, -3.42555302e-26,
        1.00000000e+00, -1.79556395e-13, -1.00000000e+00,  0.00000000e+00,
        1.90778670e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07521374, -0.074739  ,  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:
[-1.17813540e-01, 1.71446689e-01, 9.84949906e-02, 3.42865723e-02,
 -2.01124553e-02, 9.50738893e-02, 5.50821724e-02, 2.57013537e-02,
  2.37865759e-05,-1.29704221e-03,-2.85451213e-04,-6.39437778e-05,
 -1.48864467e-05,-5.68632060e-06,-8.21994915e-06,-4.78407136e-05,
  3.25935936e-02, 8.02291430e-03,-4.98373344e+00,-6.15502109e-03,
  1.06712871e-02, 2.67831812e-03]


--- Step 1872 ---
qpos:
[ 0.07352456, 0.34007993,-0.11842447,-0.02892106, 0.02173406, 0.38459219,
 -0.08686973,-0.01921061,-0.00344202, 0.57647506,-0.01415937,-0.02010563,
  1.38260219, 0.01887651, 1.35809402, 0.02435983, 0.06508971,-0.06080348,
  0.13075952, 0.9689093 ,-0.0208333 ,-0.2041629 ,-0.13819646]

qacc:
[-1.89330573e+01,-2.40585078e+01, 2.18519412e+02,-2.25188776e+02,
 -6.92432068e+01, 1.41866568e+02, 1.61229127e+02,-3.14038803e+00,
  2.57339766e-01,-1.29886518e+01, 2.44520871e+01,-9.07373201e+00,
 -1.60223470e-01, 1.07762889e-01, 2.63946544e+00,-9.22645017e+00,
 -2.42391824e+00,-9.33470255e-02,-1.86297201e+00, 1.69706031e+01,
 -3.37443831e+01, 6.33928335e+00]

qfrc_actuator:
[-7.21389710e-02, 3.57113892e-01, 1.03620096e-01, 3.10910553e-02,
 -2.60306363e-02, 2.90839508e-01, 6.95052538e-02, 2.43521827e-02,
 -1.10097600e-03, 1.79979310e-01, 3.97605994e-03, 6.31023299e-04,
  2.79575210e-04,-1.42845415e-03, 0.00000000e+00,-1.08327938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027387505975579964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77582418, -0.59266747, -0.21643037, -0.17198837, -0.13138533,
        0.97629806, -0.60705588,  0.79465915,  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([ 0.0997685 , -0.02927841,  0.11645813])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002923168869852777
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93439364e-14, -3.79801193e-13,  1.00000000e+00,  2.25388979e-26,
        1.00000000e+00,  3.79801193e-13, -1.00000000e+00,  0.00000000e+00,
        5.93439364e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07521116, -0.07474804,  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:
[-1.18370632e-01, 1.66008096e-01, 9.50943665e-02, 3.38073574e-02,
 -2.79402744e-03, 6.39150085e-02, 2.64734326e-02, 6.08619709e-03,
  2.30437772e-05,-1.33081518e-03,-3.11792627e-04,-4.60130416e-05,
 -1.80907911e-05,-8.78957125e-06,-1.12384748e-05,-4.77593325e-05,
  3.39835293e-02, 7.16661225e-03,-4.98521058e+00,-6.18940797e-03,
  1.09776598e-02, 2.70581143e-03]


--- Step 1873 ---
qpos:
[ 0.07440455, 0.34385574,-0.11819464,-0.02896674, 0.02122587, 0.38961326,
 -0.08576892,-0.01878874,-0.00343042, 0.57969392,-0.01419637,-0.02011374,
  1.3826754 , 0.01887534, 1.35818858, 0.02435773, 0.06439203,-0.06066698,
  0.13064324, 0.96770082,-0.02115892,-0.20931364,-0.13890726]

qacc:
[-2.51806359e+01,-1.94039039e+01, 1.90798582e+02,-1.99770614e+02,
  1.54087012e+00, 1.11723833e+02, 5.08564479e+01,-6.22950912e+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,
 -2.48843068e+00,-2.55376026e-01,-1.94294735e+00, 1.74038228e+01,
 -3.58973239e+01,-3.76321495e+00]

qfrc_actuator:
[-7.30340909e-02, 3.56243983e-01, 1.03469533e-01, 3.11071798e-02,
 -2.55153485e-02, 2.89065294e-01, 6.85238995e-02, 2.39547377e-02,
 -1.11928138e-03, 1.79741102e-01, 4.00575965e-03, 6.50144204e-04,
  2.76782250e-04,-1.44812093e-03, 0.00000000e+00,-1.09037417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027215600869950037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77415107, -0.59213329, -0.22375945, -0.17773007, -0.13594232,
        0.9746444 , -0.60753777,  0.79429079,  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([ 0.09934725, -0.02922322,  0.1164997 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00027453586924017226
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26374997e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.26374997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07520847, -0.07475727,  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:
[-1.18777914e-01, 1.60615471e-01, 9.20425595e-02, 3.33793664e-02,
  8.45163762e-05, 3.94879084e-02, 1.56199356e-02, 3.35855991e-03,
 -2.65584939e-06,-1.14689388e-03,-3.16944986e-04,-5.57113557e-05,
 -1.40383228e-05,-2.63255556e-05,-1.24893664e-05,-1.16441680e-05,
  3.56379858e-02, 6.71138771e-03,-4.98692320e+00,-6.19678386e-03,
  1.12878632e-02, 2.73124135e-03]


--- Step 1874 ---
qpos:
[ 0.07526619, 0.34770095,-0.11792051,-0.02900534, 0.02074569, 0.39474664,
 -0.08465384,-0.01839116,-0.00341915, 0.58290626,-0.01423484,-0.02012192,
  1.3827486 , 0.01887391, 1.35828289, 0.02435688, 0.06368378,-0.06053204,
  0.1305188 , 0.96644448,-0.02145451,-0.2145402 ,-0.13963265]

qacc:
[-3.33573378e+01,-1.62223955e+01, 1.61915961e+02,-1.62248025e+02,
  3.94948090e+01, 5.80584856e+01, 1.10262932e+02,-6.34870377e+02,
 -2.62849272e-01,-4.64847406e+00, 4.37648334e+00, 1.51050398e+00,
  2.50614384e-01,-4.23487989e-01,-4.19021661e+00, 1.40308787e+01,
 -2.64174606e+00,-3.93451606e-01,-2.04221122e+00, 1.77583216e+01,
 -3.94526311e+01,-1.43313397e+01]

qfrc_actuator:
[-7.39327445e-02, 3.55175799e-01, 1.03221292e-01, 3.10772867e-02,
 -2.49681067e-02, 2.86675819e-01, 6.74118300e-02, 2.35169978e-02,
 -1.15264213e-03, 1.79665086e-01, 4.02109525e-03, 6.64796021e-04,
  2.77797476e-04,-1.45927246e-03, 0.00000000e+00,-1.02266597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027051175383294226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77234538, -0.5916336 , -0.23119752, -0.18353694, -0.14059334,
        0.97290683, -0.6081092 ,  0.79385339,  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([ 0.09891532, -0.02916747,  0.11654519])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2042774 , -0.13089787, -0.15682795, -0.13089787,  0.09757107,
        0.0890634 , -0.15682795,  0.0890634 ,  0.12993983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.476158546737713e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80047907e-01,  2.59260510e-01, -3.97868910e-01,  2.36239298e-01,
        9.65807428e-01,  1.06803586e-01,  4.11954701e-01,  1.38777878e-17,
       -9.11204326e-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([ 0.08930846, -0.076041  ,  0.11370851])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002559123849373568
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.62686005e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.62686005e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07520568, -0.07476669,  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:
[-1.19010646e-01, 1.55426411e-01, 8.92098744e-02, 3.29589154e-02,
  5.81959009e-04, 2.28576177e-02, 9.01030193e-03, 1.84348140e-03,
 -2.58874325e-05,-8.82861685e-04,-2.94131830e-04,-5.26401631e-05,
 -1.21930801e-05,-2.24368490e-05,-8.55291871e-06, 6.51156028e-05,
  3.75327722e-02, 6.58010222e-03,-4.98884044e+00,-6.18261823e-03,
  1.16026612e-02, 2.75474457e-03]


--- Step 1875 ---
qpos:
[ 0.07610467, 0.35160898,-0.11760879,-0.02903755, 0.02027933, 0.39989778,
 -0.08354911,-0.01801263,-0.00340797, 0.58611123,-0.01427382,-0.02013133,
  1.38282151, 0.01887284, 1.3583773 , 0.02435548, 0.06296453,-0.06039917,
  0.13038582, 0.96513529,-0.02171627,-0.21984795,-0.14038929]

qacc:
[-4.13627379e+01,-7.90562387e+00, 1.22484423e+02,-1.19343547e+02,
  1.90624258e+01, 1.28909576e+01, 6.81737629e+01,-3.93855456e+02,
 -5.91566360e-02,-1.08179006e+01, 2.96220555e+01,-4.45802766e+01,
 -4.90282700e-01, 6.57959884e-01, 1.84727454e+00,-6.10465173e+00,
 -2.75050697e+00,-5.15319290e-01,-2.13536255e+00, 1.80992950e+01,
 -4.22027125e+01,-2.32913847e+01]

qfrc_actuator:
[-7.48055804e-02, 3.54428635e-01, 1.02936109e-01, 3.11592925e-02,
 -2.44822577e-02, 2.83955772e-01, 6.62722487e-02, 2.31098934e-02,
 -1.15920367e-03, 1.79350357e-01, 4.01106530e-03, 6.05893953e-04,
  2.70447316e-04,-1.42973812e-03, 0.00000000e+00,-1.05345960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026880865102386115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77041793, -0.59113378, -0.23878247, -0.18944228, -0.14535712,
        0.97107308, -0.60874284,  0.79336761,  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([ 0.098474  , -0.02911123,  0.11659377])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20587399, -0.10289191, -0.17831812, -0.10289191,  0.06750246,
        0.0798422 , -0.17831812,  0.0798422 ,  0.15980398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.047611896077673e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87568792,  0.26020244, -0.40677433,  0.23598485,  0.96555409,
        0.10961962,  0.4212859 ,  0.        , -0.90692788])
  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([ 0.08871464, -0.07604219,  0.11384615])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00023652503496192356
  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([ 0.0752028 , -0.07477628,  0.06199272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18979475e-01, 1.51070040e-01, 8.66624217e-02, 3.26773094e-02,
 -3.36405931e-04, 1.43335695e-02, 7.08767705e-03, 2.63668610e-03,
 -6.55649044e-06,-9.68678488e-04,-2.61902225e-04,-1.14009075e-04,
 -1.83964114e-05, 1.97307459e-05, 1.98101407e-06,-2.85674798e-05,
  3.97254698e-02, 6.80028596e-03,-4.99105885e+00,-6.14497450e-03,
  1.19233399e-02, 2.77635372e-03]


--- Step 1876 ---
qpos:
[ 0.07691538, 0.35557335,-0.11726446,-0.02906375, 0.0198189 , 0.40502087,
 -0.08246671,-0.01764909,-0.00339706, 0.58930726,-0.01431228,-0.02014101,
  1.38289422, 0.0188721 , 1.3584719 , 0.02435206, 0.06223393,-0.06026871,
  0.13024389, 0.963769  ,-0.02194111,-0.22524101,-0.14118918]

qacc:
[-4.86815911e+01,-3.50493840e+00, 9.58399664e+01,-8.62011067e+01,
  8.03125594e+00,-5.71076975e+00, 2.96350293e+01,-2.32580663e+02,
 -1.91589231e-01,-1.38568703e+01, 3.34047614e+01,-3.23984582e+01,
 -5.38078994e-01, 7.10684910e-01, 6.51154141e+00,-2.21869495e+01,
 -2.83519659e+00,-6.02654894e-01,-2.23672546e+00, 1.84335616e+01,
 -4.43868783e+01,-2.98602680e+01]

qfrc_actuator:
[-7.56685278e-02, 3.53764142e-01, 1.02635514e-01, 3.12353061e-02,
 -2.40302401e-02, 2.81371039e-01, 6.51705610e-02, 2.27789048e-02,
 -1.18531407e-03, 1.78913599e-01, 4.03870173e-03, 5.92804086e-04,
  2.63427601e-04,-1.41180243e-03, 0.00000000e+00,-1.15981664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026694813857297875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68376560e-01, -5.90604653e-01, -2.46543314e-01, -1.95471977e-01,
       -1.50247503e-01,  9.69131773e-01, -6.09416252e-01,  7.92850447e-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([ 0.09802426, -0.02905456,  0.11664485])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20801073, -0.08076092, -0.19169282, -0.08076092,  0.04830997,
        0.06728254, -0.19169282,  0.06728254,  0.17966434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013180661831883758
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71043303e-01,  2.61147031e-01, -4.16035806e-01,  2.35647571e-01,
        9.65299036e-01,  1.12552185e-01,  4.30991631e-01, -1.38777878e-17,
       -9.02355924e-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([ 0.08811856, -0.07604168,  0.11398149])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021641326997461074
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56505302e-13,  2.56505302e-13,  1.00000000e+00, -6.57949701e-26,
        1.00000000e+00, -2.56505302e-13, -1.00000000e+00,  0.00000000e+00,
        2.56505302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07519983, -0.07478609,  0.06199333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18696866e-01, 1.47123079e-01, 8.44344062e-02, 3.24253050e-02,
 -5.76744707e-04, 1.06727954e-02, 6.43171278e-03, 3.24373089e-03,
 -1.99479482e-05,-1.13423074e-03,-2.39972584e-04,-7.19234003e-05,
 -1.15245486e-05, 2.00232088e-05,-5.13839162e-06,-1.08329680e-04,
  4.21945103e-02, 7.33266781e-03,-4.99352331e+00,-6.08713487e-03,
  1.22507327e-02, 2.79605390e-03]


--- Step 1877 ---
qpos:
[ 0.07769429, 0.35958469,-0.11688961,-0.02908359, 0.01936098, 0.41009902,
 -0.08141113,-0.01729741,-0.00338662, 0.59249256,-0.01435094,-0.02014992,
  1.38296692, 0.01887132, 1.3585663 , 0.02434872, 0.06149175,-0.06014084,
  0.13009256, 0.96234221,-0.02212691,-0.2307223 ,-0.14203906]

qacc:
[-5.47625580e+01,-9.23568456e+00, 9.69026971e+01,-7.11760482e+01,
  3.32931627e+00,-9.06201109e+00,-4.03936191e+00,-1.24927339e+02,
 -3.50000173e-01,-1.20344892e+01, 1.90930048e+01, 2.45549503e+00,
  3.06121318e-02,-5.30853515e-02,-5.76880860e-01, 1.55872324e+00,
 -2.89826410e+00,-6.48093861e-01,-2.34972101e+00, 1.87438628e+01,
 -4.60299356e+01,-3.37299453e+01]

qfrc_actuator:
[-7.65116800e-02, 3.52598016e-01, 1.02262347e-01, 3.12345302e-02,
 -2.35429156e-02, 2.79154754e-01, 6.40899964e-02, 2.24616501e-02,
 -1.22294124e-03, 1.78319390e-01, 3.99934062e-03, 6.24492263e-04,
  2.61934890e-04,-1.41868869e-03, 0.00000000e+00,-1.15003302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026484156705679847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66225115e-01, -5.90022788e-01, -2.54503798e-01, -2.01647082e-01,
       -1.55276004e-01,  9.67071774e-01, -6.10112717e-01,  7.92314630e-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([ 0.09756697, -0.02899757,  0.11669788])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.2095047 , -0.05958356, -0.20085322, -0.05958356,  0.03383261,
        0.05211352, -0.20085322,  0.05211352,  0.1940451 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001539348913302396
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86606664,  0.26209638, -0.42571594,  0.23521567,  0.9650417 ,
        0.1156205 ,  0.44113735,  0.        , -0.8974396 ])
  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([ 0.08752463, -0.07603923,  0.11411046])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00019561209635947374
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83781792e-13,  5.67563584e-13,  1.00000000e+00, -1.61064211e-25,
        1.00000000e+00, -5.67563584e-13, -1.00000000e+00,  0.00000000e+00,
        2.83781792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07519675, -0.07479616,  0.06199396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18163504e-01, 1.42995713e-01, 8.23811278e-02, 3.21146732e-02,
 -3.87254083e-04, 9.67417009e-03, 6.39719237e-03, 3.66197967e-03,
 -3.59188154e-05,-1.37746407e-03,-3.36862853e-04,-3.26291696e-05,
 -3.10963203e-06,-2.93497248e-06,-1.71716988e-05, 2.48257862e-06,
  4.49132100e-02, 8.10888501e-03,-4.99618540e+00,-6.01419619e-03,
  1.25852046e-02, 2.81384057e-03]


--- Step 1878 ---
qpos:
[ 0.07843738, 0.36363607,-0.11648558,-0.02909673, 0.01890459, 0.41513077,
 -0.08038174,-0.01695493,-0.00337633, 0.59566319,-0.01438809,-0.0201581 ,
  1.38303943, 0.01887077, 1.35866035, 0.02434751, 0.06073779,-0.06001569,
  0.12993137, 0.96085169,-0.02227179,-0.23629412,-0.14294436]

qacc:
[-6.05074013e+01,-1.38671869e+01, 9.86671969e+01,-5.96581283e+01,
  1.97993585e+00,-7.21818767e+00,-2.45688409e+01,-5.84588270e+01,
 -1.04076390e-01,-2.20883380e+01, 4.75434211e+01,-2.65561064e+01,
 -7.88984651e-02, 1.71531600e-01,-6.95150855e+00, 2.35632379e+01,
 -2.94386540e+00,-6.80821231e-01,-2.46409065e+00, 1.90175657e+01,
 -4.73908698e+01,-3.69124947e+01]

qfrc_actuator:
[-7.72922908e-02, 3.51206510e-01, 1.01852447e-01, 3.12204368e-02,
 -2.30156023e-02, 2.77258651e-01, 6.30177535e-02, 2.21199811e-02,
 -1.23165600e-03, 1.77423036e-01, 4.00905515e-03, 6.46605321e-04,
  2.53097027e-04,-1.40474027e-03, 0.00000000e+00,-1.03636456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026239100999185024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76396297, -0.58937032, -0.26268464, -0.20798542, -0.16045337,
        0.96488175, -0.61082129,  0.79176849,  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([ 0.09710318, -0.02894046,  0.11675228])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20958768, -0.03885035, -0.20595544, -0.03885035,  0.02326399,
        0.03514712, -0.20595544,  0.03514712,  0.20295771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000155063752543769
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60751953e-01,  2.63606202e-01, -4.35451312e-01,  2.35219165e-01,
        9.64630380e-01,  1.18996528e-01,  4.51417788e-01,  1.38777878e-17,
       -8.92312715e-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([ 0.08693431, -0.07602807,  0.1142358 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017416119906828176
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.18734319e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.18734319e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07519354, -0.07480654,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17363671e-01, 1.39110002e-01, 8.03952744e-02, 3.17732610e-02,
  1.40519080e-05, 9.84207101e-03, 6.59493640e-03, 3.89850877e-03,
 -1.23783086e-05,-1.83342881e-03,-3.48433699e-04,-5.51785000e-05,
 -1.14962152e-05, 1.25288958e-05,-8.79205932e-06, 1.11343467e-04,
  4.78485031e-02, 9.04430824e-03,-4.99899274e+00,-5.93219097e-03,
  1.29266392e-02, 2.82978020e-03]


--- Step 1879 ---
qpos:
[ 0.07914008, 0.36772586,-0.11605504,-0.02910326, 0.01844959, 0.42011832,
 -0.07937258,-0.01661879,-0.00336635, 0.59881682,-0.01442342,-0.02016579,
  1.38311176, 0.01887021, 1.35875456, 0.02434563, 0.05997192,-0.05989344,
  0.12975989, 0.95929387,-0.02237346,-0.2419586 ,-0.14391223]

qacc:
[-67.01255741, -8.94902593, 78.42841019,-35.78098885,  1.79788178,
 -15.02147671, -4.49935207,-40.41755736, -0.20641343,-26.53168947,
  59.93766403,-41.81991092, -0.20830374,  0.16371144,  2.28022171,
  -7.5578498 , -2.97613206, -0.72424051, -2.57288495, 19.24734206,
 -48.68070664,-41.00658856]

qfrc_actuator:
[-7.80009019e-02, 3.50129494e-01, 1.01445146e-01, 3.12664654e-02,
 -2.25175690e-02, 2.75112520e-01, 6.19606242e-02, 2.17302488e-02,
 -1.25865569e-03, 1.76495659e-01, 4.06434960e-03, 6.62707899e-04,
  2.34542076e-04,-1.41404052e-03, 0.00000000e+00,-1.07546667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025949166483751627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76065504, -0.59011194, -0.27050288, -0.21372732, -0.16580846,
        0.96271916, -0.61296374,  0.79011104,  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([ 0.09664399, -0.02890027,  0.11681428])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20821293, -0.01982193, -0.20726726, -0.01982193,  0.01655764,
        0.01832889, -0.20726726,  0.01832889,  0.20646006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013503173966864128
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85505223,  0.2645768 , -0.44596502,  0.23458657,  0.96436462,
        0.12235206,  0.4624444 ,  0.        , -0.88664828])
  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([ 0.0863482 , -0.07602128,  0.11434836])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001520884113421772
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.64992643e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.64992643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07519019, -0.07481729,  0.06199528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16290898e-01, 1.35884233e-01, 7.84780868e-02, 3.14739889e-02,
  4.35723549e-04, 9.83495477e-03, 6.77868936e-03, 3.95472188e-03,
 -2.31063634e-05,-2.12214871e-03,-3.99050363e-04,-8.15223161e-05,
 -2.10699892e-05,-8.05063907e-06, 6.97065407e-06,-3.43307603e-05,
  5.09963703e-02, 1.01221170e-02,-5.00192244e+00,-5.84253364e-03,
  1.32752150e-02, 2.84391098e-03]


--- Step 1880 ---
qpos:
[ 0.07979778, 0.37185367,-0.11560042,-0.02910337, 0.01799605, 0.42506367,
 -0.07837801,-0.01628621,-0.00335686, 0.60195211,-0.01445717,-0.02017314,
  1.38318389, 0.01886959, 1.35884892, 0.02434231, 0.05919406,-0.05977423,
  0.12957768, 0.95766529,-0.02242967,-0.24771748,-0.14494879]

qacc:
[-73.32170401, -3.18062969, 57.72318983,-13.68954427,  1.85898133,
 -22.26121703, 13.50466211,-20.86423433, -0.34565086,-27.96413681,
  63.12509859,-46.40680323, -0.26167272,  0.1878194 ,  4.628612  ,
 -15.80848806, -2.99846823, -0.75938028, -2.68395049, 19.49401134,
 -49.80362567,-44.5981857 ]

qfrc_actuator:
[-7.87006675e-02, 3.49209022e-01, 1.00994887e-01, 3.13104895e-02,
 -2.20908448e-02, 2.72601955e-01, 6.09170632e-02, 2.13480065e-02,
 -1.29642206e-03, 1.75557853e-01, 4.12831576e-03, 6.75146897e-04,
  2.20815068e-04,-1.41938752e-03, 0.00000000e+00,-1.15103760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025617831136896443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75800829, -0.58954733, -0.27902935, -0.2202545 , -0.17130479,
        0.96028258, -0.61393109,  0.78935962,  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([ 0.09617079, -0.02884653,  0.11687182])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20603417, -0.00308372, -0.20601109, -0.00308372,  0.01287256,
        0.00289138, -0.20601109,  0.00289138,  0.20599089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.423678080844115e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84897363,  0.26556998, -0.45685486,  0.23385943,  0.96409159,
        0.12584586,  0.47387081,  0.        , -0.88059438])
  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([ 0.08576577, -0.07601211,  0.11445274])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00012940101682135802
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.57970866e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.57970866e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07518668, -0.07482846,  0.06199597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14979185e-01, 1.32894328e-01, 7.66500397e-02, 3.11781625e-02,
  7.92446943e-04, 9.35577994e-03, 6.67785556e-03, 3.87575395e-03,
 -3.75742818e-05,-2.30491891e-03,-4.56950377e-04,-9.97764075e-05,
 -2.57971451e-05,-1.26493027e-05,-3.57675585e-06,-7.72489021e-05,
  5.43787967e-02, 1.13847723e-02,-5.00497682e+00,-5.74274020e-03,
  1.36316074e-02, 2.85623405e-03]


--- Step 1881 ---
qpos:
[ 0.08042984, 0.37601945,-0.11511787,-0.02909672, 0.01755532, 0.42996948,
 -0.07739531,-0.01595541,-0.00334753, 0.60506829,-0.01448937,-0.02017961,
  1.38325572, 0.01886916, 1.35894321, 0.02433843, 0.05840582,-0.05965335,
  0.12938699, 0.9559654 ,-0.02248019,-0.25359305,-0.14599782]

qacc:
[-40.97470138,-13.10943024, 91.70775665,-48.22791413, 15.80751649,
 -22.67940344, 12.59658791,  4.41831743, -0.10421311,-27.76280318,
  58.63234714,-31.80006583, -0.39002153,  0.4489465 ,  1.59900588,
  -5.63752358, -2.5970348 ,  0.41695394, -2.11832432,  8.83659637,
 -64.15480816,-13.14917839]

qfrc_actuator:
[-7.93921078e-02, 3.47923695e-01, 1.00492927e-01, 3.12620796e-02,
 -2.16542701e-02, 2.70012670e-01, 5.98840982e-02, 2.09877637e-02,
 -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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002524414401215066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75766163, -0.58488295, -0.28958727, -0.22923135, -0.17695698,
        0.95715162, -0.61106615,  0.79157953,  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([ 0.09566588, -0.02874742,  0.11691015])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20425121, -0.0181409 , -0.20344401, -0.0181409 ,  0.01402193,
        0.01696256, -0.20344401,  0.01696256,  0.20273868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.306192453302213e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84250872,  0.26659529, -0.4680876 ,  0.23304302,  0.96380856,
        0.12947587,  0.4856645 ,  0.        , -0.8741453 ])
  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([ 0.0851867 , -0.07600043,  0.11454915])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.15360809, -0.9804614 , -4.03623038, -0.9804614 , 10.57788484,
       -1.56055398, -4.03623038, -1.56055398,  4.53269026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011664519409258084
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.35384639e-13, -4.75897457e-13,  1.00000000e+00,  2.54788188e-25,
        1.00000000e+00,  4.75897457e-13, -1.00000000e+00,  0.00000000e+00,
        5.35384639e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07233142, -0.08426901,  0.06199636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13427266e-01, 1.29558396e-01, 7.48913912e-02, 3.07983312e-02,
  1.15587467e-03, 8.69933041e-03, 6.30675041e-03, 3.67973691e-03,
 -1.31953858e-05,-2.39948271e-03,-4.79765832e-04,-7.66497780e-05,
 -2.65917811e-05, 5.16497371e-06,-1.29111443e-05,-3.07421839e-05,
  5.79976956e-02, 1.28226683e-02,-5.00814007e+00,-5.63377540e-03,
  1.39960569e-02, 2.86663392e-03]


--- Step 1882 ---
qpos:
[ 0.08103366, 0.38022051,-0.11460881,-0.02908351, 0.01712978, 0.43492431,
 -0.07634809,-0.01556886,-0.00333803, 0.608173  ,-0.01452452,-0.02018662,
  1.38332732, 0.01886889, 1.35903737, 0.0243346 , 0.05760762,-0.05953129,
  0.12918721, 0.95419185,-0.02252012,-0.25957836,-0.14707084]

qacc:
[-4.43456519e+01,-1.31097682e+01, 8.74015241e+01,-4.31848528e+01,
  1.85028227e+01,-1.89739578e-01,-1.40026118e+02, 9.64879275e+02,
  1.28172229e-01,-8.02421614e+00, 8.90152369e+00,-5.09862159e+00,
 -2.73777207e-01, 3.22702597e-01,-2.78834503e-01, 7.72561595e-01,
 -2.48890611e+00, 2.95496515e-01,-2.27460100e+00, 9.20059276e+00,
 -6.07536476e+01,-1.94250761e+01]

qfrc_actuator:
[-8.00444210e-02, 3.46635080e-01, 1.00052980e-01, 3.12263155e-02,
 -2.12059684e-02, 2.68135991e-01, 5.88961202e-02, 2.06581251e-02,
 -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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024979291240385926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53637340e-01, -5.85983007e-01, -2.97749350e-01, -2.35056218e-01,
       -1.82765559e-01,  9.54644083e-01, -6.13823536e-01,  7.89443264e-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([ 0.09519529, -0.02871482,  0.11697896])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.14634213,  2.74053525,  3.1115301 ,  2.74053525, 11.82329941,
       -6.76161611,  3.1115301 , -6.76161611, 10.10175528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010976491046002512
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.05727659e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.05727659e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07230716, -0.08427289,  0.06199657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12808737e-01, 1.26220751e-01, 7.30018223e-02, 3.04143973e-02,
  9.60144953e-04, 8.62436481e-03, 5.84572733e-03, 3.42589113e-03,
  1.23272265e-05,-1.56555999e-03,-5.41456364e-04,-1.14975869e-04,
 -2.11329562e-05, 4.70963836e-06,-1.14685695e-05, 5.71410343e-07,
  6.18702245e-02, 1.30405145e-02,-5.01195565e+00,-5.59534443e-03,
  1.43408365e-02, 2.90644736e-03]


--- Step 1883 ---
qpos:
[ 0.08160539, 0.38445245,-0.11407494,-0.02906349, 0.01671388, 0.43991322,
 -0.07529281,-0.01518265,-0.00332812, 0.61127103,-0.01456321,-0.02019414,
  1.38339875, 0.01886892, 1.3591312 , 0.02433284, 0.0567993 ,-0.05940843,
  0.12897761, 0.95234035,-0.02254472,-0.26567269,-0.14818102]

qacc:
[-4.94635141e+01,-1.37143709e+01, 8.00626724e+01,-2.55536987e+01,
  1.14108318e+01, 2.16603099e+01,-1.05626555e+01,-3.30677164e+01,
  3.02269222e-01, 1.56319943e-02,-1.07208544e+01, 1.24681678e+01,
 -1.20240885e-01, 2.67340434e-01,-6.75122048e+00, 2.29316104e+01,
 -2.52897711e+00, 1.99484137e-01,-2.45379062e+00, 9.63192063e+00,
 -6.05860751e+01,-2.66707957e+01]

qfrc_actuator:
[-8.06603874e-02, 3.45278737e-01, 9.96405016e-02, 3.12311450e-02,
 -2.07936425e-02, 2.66756147e-01, 5.78989887e-02, 2.02722677e-02,
 -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:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024586645348976784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74913029, -0.58762992, -0.30576934, -0.24058368, -0.18871773,
        0.95210562, -0.61718985,  0.78681427,  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([ 0.0947242 , -0.02868934,  0.11705299])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.13571726,  3.01353554,  2.83244785,  3.01353554, 12.00648498,
       -8.37397175,  2.83244785, -8.37397175, 13.04506454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.880065641461322e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.61850025e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.61850025e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228657, -0.08427974,  0.0619969 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12022200e-01, 1.22948651e-01, 7.12107146e-02, 3.00811675e-02,
  6.11541265e-04, 4.61388411e-03, 1.55532405e-03, 2.38735633e-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,
  6.58838062e-02, 1.34952153e-02,-5.01559232e+00,-5.54180053e-03,
  1.46936913e-02, 2.94560024e-03]


--- Step 1884 ---
qpos:
[ 0.08214079, 0.38870902,-0.11351711,-0.02903605, 0.01630614, 0.44491208,
 -0.07424116,-0.01479924,-0.0033181 , 0.61435893,-0.01460167,-0.02020142,
  1.38347016, 0.01886897, 1.35922462, 0.02433507, 0.05598074,-0.05928509,
  0.12875748, 0.95040668,-0.02254975,-0.27187568,-0.14933943]

qacc:
[-55.00025752,-18.25263625, 81.75189884,-10.84422853,  9.49011879,
  17.37143016,-31.20306795,-18.42262634,  0.08886248,-13.54881604,
  27.90608523,-16.74630153,  0.34021421, -0.35606373,-12.75323818,
  43.62272231, -2.55887891,  0.11999166, -2.63237282, 10.03581113,
 -60.66553962,-32.88488337]

qfrc_actuator:
[-8.12394069e-02, 3.43499235e-01, 9.91468246e-02, 3.12219502e-02,
 -2.04034198e-02, 2.65172670e-01, 5.68737554e-02, 1.99397317e-02,
 -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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024091240243778365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7444325 , -0.58932609, -0.31387101, -0.24609187, -0.19481735,
        0.94946563, -0.62069239,  0.78405418,  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([ 0.09424993, -0.02866558,  0.11712957])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.12341571,  3.33654295,  2.42281618,  3.33654295, 11.03063692,
       -9.51217035,  2.42281618, -9.51217035, 17.22295053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.426550943220479e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.58764797e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.58764797e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226889, -0.08428915,  0.06199735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11005662e-01, 1.19472060e-01, 6.94218882e-02, 2.97211154e-02,
  5.19369971e-04, 1.14792491e-03, 5.93087659e-05,-9.03946887e-05,
  8.12325592e-06,-1.29011191e-03,-2.92436605e-04,-5.45348553e-05,
  4.97123018e-07, 5.74963739e-07, 7.39441292e-06, 2.12712542e-04,
  7.01822041e-02, 1.42404191e-02,-5.01927122e+00,-5.46850113e-03,
  1.50552354e-02, 2.98317655e-03]


--- Step 1885 ---
qpos:
[ 0.08263538, 0.39298487,-0.11293622,-0.02900056, 0.01590654, 0.44990395,
 -0.07319988,-0.01441998,-0.0033083 , 0.61743345,-0.01463877,-0.02020898,
  1.38354157, 0.01886878, 1.3593182 , 0.02433843, 0.05515188,-0.05916154,
  0.12852612, 0.94838655,-0.02253131,-0.27818732,-0.15055597]

qacc:
[-6.06430796e+01,-2.15146265e+01, 8.04664079e+01, 6.67874961e+00,
  9.32398267e+00, 1.10072889e+01,-3.52715743e+01,-1.47158580e+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,
 -2.57808051e+00, 5.29833593e-02,-2.80791935e+00, 1.03901343e+01,
 -6.09730040e+01,-3.84950565e+01]

qfrc_actuator:
[-8.17614211e-02, 3.41424226e-01, 9.85776067e-02, 3.12010076e-02,
 -1.99933293e-02, 2.63459750e-01, 5.58046288e-02, 1.96062735e-02,
 -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:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002357653045909044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.39494902e-01, -5.91104216e-01, -3.22091751e-01, -2.51592986e-01,
       -2.01107099e-01,  9.46708458e-01, -6.24378298e-01,  7.81122103e-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([ 0.09377386, -0.02864418,  0.11720805])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.11116795,  3.65771296,  1.87692242,  3.65771296,  8.92807383,
       -9.38710035,  1.87692242, -9.38710035, 22.40458181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.661210013006458e-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([ 0.07225349, -0.08430081,  0.0619979 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09718369e-01, 1.16011526e-01, 6.75997737e-02, 2.93186772e-02,
  5.20642301e-04,-1.24111454e-03,-8.95849185e-04,-2.97834428e-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,
  7.47756224e-02, 1.52489195e-02,-5.02299436e+00,-5.37746136e-03,
  1.54251272e-02, 3.01912337e-03]


--- Step 1886 ---
qpos:
[ 0.08308766, 0.397278  ,-0.11233346,-0.02895665, 0.01551522, 0.45487503,
 -0.07217142,-0.01404663,-0.0032985 , 0.62049094,-0.01467345,-0.02021653,
  1.38361281, 0.01886885, 1.35941218, 0.02434006, 0.0543129 ,-0.05903742,
  0.12828309, 0.94627521,-0.02249098,-0.28461259,-0.15183231]

qacc:
[-6.17872279e+01,-2.00425958e+01, 6.98098943e+01, 2.72077540e+01,
  9.31707890e+00,-3.90398823e+00,-1.09154077e+00,-6.52637831e+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,
 -2.52654627e+00, 1.41975627e-01,-2.91684362e+00, 9.59280269e+00,
 -6.42521538e+01,-3.95471095e+01]

qfrc_actuator:
[-8.22302375e-02, 3.39451468e-01, 9.79898744e-02, 3.12226733e-02,
 -1.95745729e-02, 2.61433599e-01, 5.47706220e-02, 1.92214853e-02,
 -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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002302283400627695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.34631870e-01, -5.92900891e-01, -3.29825028e-01, -2.56662263e-01,
       -2.07144954e-01,  9.44042081e-01, -6.28044982e-01,  7.78177037e-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([ 0.09329246, -0.02862517,  0.11729482])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.10068324,  0.84729198, -4.01219383,  0.84729198, 20.0002406 ,
        3.3576562 , -4.01219383,  3.3576562 ,  4.80975047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.632168946534478e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13361393e-07, -1.13361009e-07,  1.00000000e+00, -1.28507618e-14,
        1.00000000e+00,  1.13361009e-07, -1.00000000e+00,  1.57772181e-30,
       -1.13361393e-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([ 0.07186857, -0.08581438,  0.06199853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08153560e-01, 1.12920950e-01, 6.58030667e-02, 2.89270580e-02,
  5.30447064e-04,-3.09474039e-03,-1.47852284e-03,-4.88448697e-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,
  7.96802812e-02, 1.65090051e-02,-5.02676566e+00,-5.26967118e-03,
  1.58031735e-02, 3.05345123e-03]


--- Step 1887 ---
qpos:
[ 0.0834933 , 0.40158641,-0.11171003,-0.02890387, 0.01513138, 0.45981134,
 -0.07115589,-0.01367886,-0.00328845, 0.62352773,-0.01470535,-0.02022313,
  1.38368399, 0.01886872, 1.35950656, 0.02433787, 0.05346381,-0.05891291,
  0.1280277 , 0.94406823,-0.02242528,-0.29115137,-0.15317689]

qacc:
[-66.92121376,-18.5327644 , 58.69551363, 49.38199893,  8.32071282,
 -21.24909016, 32.66319504,-83.14252463,  0.20409577,-33.16601413,
  74.59928308,-47.57332601, -0.28226477,  0.16546746, 12.1844794 ,
 -41.67729447, -2.53041103,  0.096127  , -3.08919587,  9.82696646,
 -64.62024156,-44.43328051]

qfrc_actuator:
[-8.26848028e-02, 3.37410071e-01, 9.73830190e-02, 3.12130544e-02,
 -1.92072562e-02, 2.58774524e-01, 5.37642731e-02, 1.88625690e-02,
 -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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00225074552096767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28999517e-01, -5.94958380e-01, -3.38502925e-01, -2.62250328e-01,
       -2.14030362e-01,  9.40965339e-01, -6.32285117e-01,  7.74735781e-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([ 0.09281622, -0.02861104,  0.11737377])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09400886,  3.84958183,  1.39342324,  3.84958183,  6.7697148 ,
       -7.39211796,  1.39342324, -7.39211796, 24.51606168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6105273885183855e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.12643435e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.12643435e-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([ 0.07183331, -0.08590535,  0.06199917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06497911e-01, 1.09860718e-01, 6.40475276e-02, 2.84855013e-02,
  4.82259933e-04,-4.89085218e-03,-1.91142834e-03,-5.65680447e-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,
  8.49773938e-02, 1.78299154e-02,-5.03074539e+00,-5.15532139e-03,
  1.61856528e-02, 3.08938581e-03]


--- Step 1888 ---
qpos:
[ 0.08384779, 0.40590763,-0.11106452,-0.02884141, 0.01475517, 0.46470359,
 -0.07015601,-0.01331676,-0.00327771, 0.62654417,-0.01473725,-0.02022996,
  1.38375504, 0.01886839, 1.35960087, 0.02433365, 0.0526046 ,-0.05878814,
  0.12775923, 0.94176161,-0.02233118,-0.29780292,-0.15459562]

qacc:
[-7.20770268e+01,-2.38769556e+01, 6.96669047e+01, 5.20466593e+01,
  8.33406750e+00,-2.61017310e+01, 3.24814406e+01,-7.31414008e+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,
 -2.52809318e+00, 6.71237709e-02,-3.27072742e+00, 1.01331355e+01,
 -6.47378523e+01,-4.80367401e+01]

qfrc_actuator:
[-8.30918052e-02, 3.35109551e-01, 9.67748788e-02, 3.11453472e-02,
 -1.88200760e-02, 2.55935520e-01, 5.27265108e-02, 1.85212171e-02,
 -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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021856688696914816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.23352015e-01, -5.97077011e-01, -3.46786542e-01, -2.67445309e-01,
       -2.20757587e-01,  9.37944079e-01, -6.36580607e-01,  7.71210173e-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([ 0.09233679, -0.02859986,  0.11745996])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09095797,  3.94781568,  1.07270148,  3.94781568,  5.66351275,
       -5.78740356,  1.07270148, -5.78740356, 25.39008253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.279295841818186e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.26958242e-11,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.26958242e-11, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07181886, -0.08592163,  0.0619999 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04576729e-01, 1.06641232e-01, 6.23493249e-02, 2.79636173e-02,
  4.92685732e-04,-6.16568703e-03,-2.36897164e-03,-6.41330276e-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,
  9.06184769e-02, 1.93871821e-02,-5.03475741e+00,-5.02506331e-03,
  1.65759729e-02, 3.12402225e-03]


--- Step 1889 ---
qpos:
[ 0.08405073, 0.41028011,-0.11034254,-0.0287814 , 0.01438701, 0.46955175,
 -0.06917597,-0.01296254,-0.00326662, 0.62954311,-0.01477074,-0.02023763,
  1.38382582, 0.01886858, 1.35969478, 0.02433025, 0.05173944,-0.05867862,
  0.12745362, 0.93934795,-0.0222112 ,-0.30448397,-0.15627414]

qacc:
[-2.09908547e+02,-1.46806257e+02, 6.35118741e+02,-8.42448534e+02,
  8.64738393e+00,-1.90945061e+01, 1.67657270e+01,-8.91306643e+01,
  2.57137670e-01,-2.04077371e+01, 4.27293133e+01,-4.17999655e+01,
 -4.18714870e-01, 6.80951905e-01,-3.03203064e+00, 9.86213753e+00,
 -1.48925626e+00,-3.81327164e+00,-9.28608933e+00,-2.54080095e+01,
 -2.49249724e+01,-1.34787505e+02]

qfrc_actuator:
[-8.34293676e-02, 3.32987201e-01, 9.61385447e-02, 3.10739235e-02,
 -1.84063527e-02, 2.53757370e-01, 5.17310419e-02, 1.81217034e-02,
 -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([ 0.43067336,  0.30357568, -0.30548542,  0.30357568,  1.0712979 ,
        0.63661969, -0.30548542,  0.63661969,  1.06331322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021163725669280267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.17415507e-01, -5.99356777e-01, -3.55086530e-01, -2.72502644e-01,
       -2.27659292e-01,  9.34833438e-01, -6.41137504e-01,  7.67426023e-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([ 0.09185709, -0.02859339,  0.11754844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02360246e-01, 1.03722373e-01, 6.05526152e-02, 2.73968085e-02,
  5.22801566e-04,-6.31303815e-03,-2.64808086e-03,-7.71208170e-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,
  9.65868947e-02, 2.11331158e-02,-5.03876248e+00,-4.88234400e-03,
  1.69735551e-02, 3.15709952e-03]


--- Step 1890 ---
qpos:
[ 0.08409481, 0.41465866,-0.10962555,-0.02873022, 0.01402583, 0.47435837,
 -0.06821689,-0.01261707,-0.00325559, 0.63252474,-0.01480433,-0.02024473,
  1.38389674, 0.01886828, 1.35978843, 0.0243281 , 0.05086831,-0.05858304,
  0.127111  , 0.93682856,-0.022058  ,-0.31119573,-0.15818633]

qacc:
[-2.16431068e+02, 3.92962778e+00, 3.52461459e+01,-1.84822503e+02,
  7.37294354e+00,-1.43847374e+01, 8.47136929e+00,-9.56974726e+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,
 -1.49126251e+00,-3.48297921e+00,-9.25163868e+00,-1.87476382e+01,
 -2.53332211e+01,-1.23405620e+02]

qfrc_actuator:
[-8.36221529e-02, 3.30874940e-01, 9.54043219e-02, 3.09907893e-02,
 -1.80689420e-02, 2.52011143e-01, 5.08069071e-02, 1.77095371e-02,
 -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:
<MjContact
  H: array([ 0.43067336,  0.3255333 , -0.28197094,  0.3255333 ,  0.4350281 ,
        0.00502752, -0.28197094,  0.00502752,  0.43647759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002034749814479945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71072211, -0.60277805, -0.36267438, -0.27659223, -0.23458356,
        0.93191592, -0.64681592,  0.76264616,  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([ 0.0913726 , -0.0286083 ,  0.11764868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.49552571e-02, 9.88880940e-02, 5.59375688e-02, 2.74255867e-02,
  4.55095696e-04,-6.02452483e-03,-2.64523277e-03,-8.02193593e-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,
  1.02107265e-01, 2.69960947e-02,-5.04019850e+00,-4.50807988e-03,
  1.73550171e-02, 3.31854078e-03]


--- Step 1891 ---
qpos:
[ 0.08407062, 0.41900823,-0.10893777,-0.02866955, 0.01367146, 0.4791242 ,
 -0.06727881,-0.01227959,-0.00324425, 0.63549219,-0.01483852,-0.02025244,
  1.38396759, 0.01886738, 1.35988192, 0.02432741, 0.04998564,-0.05848262,
  0.12676356, 0.93418399,-0.0218531 ,-0.31806885,-0.16017152]

qacc:
[-9.14456278e+01, 6.15014222e+01,-3.15565277e+02, 5.49214185e+02,
  7.09375836e+00,-1.17330138e+01,-2.77055485e+00,-7.17503594e+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,
 -2.88494110e+00, 1.20763116e+00,-1.20617992e+00, 2.42412142e+01,
 -9.01676842e+01,-5.39245857e+01]

qfrc_actuator:
[-8.36601375e-02, 3.28757905e-01, 9.46977329e-02, 3.08902295e-02,
 -1.77262070e-02, 2.50201848e-01, 4.98458646e-02, 1.73292960e-02,
 -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:
<MjContact
  H: array([ 0.43067336, -0.07633566,  0.42385423, -0.07633566,  1.20826558,
        0.14004347,  0.42385423,  0.14004347,  0.45589502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019324675694364585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70365892, -0.60671599, -0.36981053, -0.28007584, -0.24148986,
        0.92910719, -0.65300969,  0.75734956,  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([ 0.09088844, -0.02863969,  0.11775358])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09145409,  2.79109173, -2.99162223,  2.79109173,  7.73842269,
        3.40250977, -2.99162223,  3.40250977,  7.26589129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0949230899025275e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.06986762e-12, -2.53493381e-12,  1.00000000e+00,  1.28517789e-23,
        1.00000000e+00,  2.53493381e-12, -1.00000000e+00,  0.00000000e+00,
        5.06986762e-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([ 0.07171473, -0.08598263,  0.06199965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.70257564e-02, 9.63114645e-02, 5.54224758e-02, 2.77552588e-02,
  4.46736589e-04,-5.92508217e-03,-2.62244038e-03,-7.58245391e-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,
  1.07718746e-01, 3.24140373e-02,-5.04148130e+00,-4.16846557e-03,
  1.77309232e-02, 3.45803047e-03]


--- Step 1892 ---
qpos:
[ 0.08397872, 0.42334784,-0.1082525 ,-0.02859624, 0.01332468, 0.48384951,
 -0.06636174,-0.01194888,-0.00323264, 0.63845153,-0.01487543,-0.02026094,
  1.38403825, 0.01886617, 1.35997535, 0.02432796, 0.04909162,-0.05837758,
  0.12640867, 0.93141667,-0.0216028 ,-0.32508958,-0.16221305]

qacc:
[-8.91189152e+01, 1.96003741e+01,-1.42135004e+02, 3.71975704e+02,
  7.78611395e+00,-8.90354204e+00,-1.74185715e+01,-3.64940493e+01,
  1.97034652e-01,-4.71904669e+00, 4.58150420e+00,-7.82352984e+00,
  1.28359114e-01,-3.61763092e-01,-3.86516580e+00, 1.33423651e+01,
 -2.83896308e+00, 1.15428142e+00,-1.86201759e+00, 2.27216764e+01,
 -8.42178492e+01,-4.49775734e+01]

qfrc_actuator:
[-8.36322892e-02, 3.27718032e-01, 9.39984473e-02, 3.08176774e-02,
 -1.73296493e-02, 2.48370581e-01, 4.88711019e-02, 1.70064519e-02,
 -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([ 0.43067336, -0.33298461, -0.27313145, -0.33298461,  0.81664896,
       -0.47055709, -0.27313145, -0.47055709,  1.00434685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018255113262082671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69627763, -0.61072568, -0.37710954, -0.28350445, -0.24867013,
        0.92616866, -0.65941086,  0.75178276,  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([ 0.0904132 , -0.02867609,  0.11785646])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09441922, -2.09491282,  3.51789838, -2.09491282,  8.90293446,
        2.86347675,  3.51789838,  2.86347675,  5.79962315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.777827681151035e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.99754831e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.99754831e-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([ 0.07166709, -0.08600589,  0.0619991 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35812916e-02, 9.65676666e-02, 5.61270240e-02, 2.71966335e-02,
  5.00263327e-04,-5.88297068e-03,-2.61045386e-03,-6.94771463e-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,
  1.16027786e-01, 3.46888038e-02,-5.04729348e+00,-3.98051163e-03,
  1.81663211e-02, 3.43718745e-03]


--- Step 1893 ---
qpos:
[ 0.08381711, 0.42770307,-0.10755712,-0.02850975, 0.01298558, 0.48853516,
 -0.06546534,-0.01162466,-0.00322175, 0.64140467,-0.01491366,-0.02026916,
  1.38410889, 0.01886473, 1.36006863, 0.02433059, 0.04818657,-0.05826841,
  0.12604419, 0.92852472,-0.02130882,-0.33224934,-0.16431112]

qacc:
[-90.26926308, 19.524012  ,-95.02381379,295.34800346,  7.75467604,
  -8.096854  ,-19.90974101,-29.99689043, -0.50014053, -3.90346843,
   0.86642753, 10.63142348,  0.29905664, -0.4664347 , -6.59852611,
  22.64042546, -2.75711718,  1.03317087, -2.39661703, 21.08759329,
 -80.85955408,-45.04465683]

qfrc_actuator:
[-8.35204460e-02, 3.27157257e-01, 9.32885171e-02, 3.07372466e-02,
 -1.69398062e-02, 2.46630940e-01, 4.79320195e-02, 1.67022863e-02,
 -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([ 0.43067336, -0.30040243, -0.30860641, -0.30040243,  1.04237728,
       -0.59544241, -0.30860641, -0.59544241,  1.01028655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017179745402066656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68859019, -0.61475041, -0.38461082, -0.28690858, -0.25614244,
        0.92307883, -0.66597824,  0.74597117,  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([ 0.089943  , -0.02871661,  0.11795823])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09592437,  1.9540997 , -3.59973483,  1.9540997 , 34.8776727 ,
       16.70973227, -3.59973483, 16.70973227, 13.16672664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.319857775295476e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50814139e-12, -1.25407069e-12,  1.00000000e+00,  3.14538661e-24,
        1.00000000e+00,  1.25407069e-12, -1.00000000e+00,  0.00000000e+00,
        2.50814139e-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([ 0.07162648, -0.08603093,  0.06199892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.00810149e-02, 9.63526161e-02, 5.54859194e-02, 2.64737197e-02,
  5.07952088e-04,-5.76072369e-03,-2.56157584e-03,-6.72470846e-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,
  1.24240943e-01, 3.65288361e-02,-5.05250616e+00,-3.82297325e-03,
  1.86015912e-02, 3.42050923e-03]


--- Step 1894 ---
qpos:
[ 0.08358345, 0.43208181,-0.10684021,-0.02840865, 0.01265326, 0.49318053,
 -0.06458777,-0.01130725,-0.00321163, 0.64434769,-0.01495038,-0.02027699,
  1.38417937, 0.01886344, 1.36016205, 0.0243335 , 0.04727085,-0.05815554,
  0.12566821, 0.92550565,-0.02097167,-0.33954109,-0.16646719]

qacc:
[-9.17347195e+01, 1.45845488e+00,-2.11491914e+01, 2.21515693e+02,
  6.76903226e+00,-1.46548871e+01, 3.70279447e+00,-6.18062292e+01,
 -5.17107583e-01,-1.68265431e+01, 3.89677291e+01,-2.73430428e+01,
 -1.99340277e-01, 2.57044431e-01,-5.76880605e-01, 2.37082211e+00,
 -2.66658846e+00, 9.27113296e-01,-2.87599690e+00, 1.98944875e+01,
 -7.82327559e+01,-4.59488078e+01]

qfrc_actuator:
[-8.33468616e-02, 3.25619665e-01, 9.25960956e-02, 3.06287289e-02,
 -1.66103664e-02, 2.44784098e-01, 4.70579162e-02, 1.63762367e-02,
 -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([ 0.43067336, -0.2693989 , -0.33601157, -0.2693989 ,  1.32609889,
       -0.71791176, -0.33601157, -0.71791176,  1.00626258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016083088975216682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81752151e-01, -6.18530018e-01, -3.90684810e-01, -2.89346135e-01,
       -2.62513686e-01,  9.20524513e-01, -6.71932153e-01,  7.40612707e-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([ 0.0894608 , -0.02875824,  0.118079  ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09468979, -1.7452042 ,  3.70415264, -1.7452042 , 10.6568432 ,
        3.09174561,  3.70415264,  3.09174561,  5.55135962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8828159762545047e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92558775e-12, -2.40698468e-12,  1.00000000e+00,  4.63486022e-24,
        1.00000000e+00,  2.40698468e-12, -1.00000000e+00,  0.00000000e+00,
        1.92558775e-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([ 0.07159162, -0.08605796,  0.06199906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.64172770e-02, 9.38817120e-02, 5.42321334e-02, 2.56950585e-02,
  4.51229081e-04,-5.78668818e-03,-2.46374070e-03,-6.86827616e-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,
  1.32646554e-01, 3.83705223e-02,-5.05735484e+00,-3.66649347e-03,
  1.90397535e-02, 3.40799457e-03]


--- Step 1895 ---
qpos:
[ 0.08327946, 0.43648263,-0.10609789,-0.02829092, 0.0123272 , 0.49778324,
 -0.06372738,-0.01099662,-0.00320141, 0.6472791 ,-0.01498632,-0.02028452,
  1.38424965, 0.01886214, 1.36025569, 0.02433516, 0.04634456,-0.05803838,
  0.12528145, 0.9223565 ,-0.02060571,-0.3469634 ,-0.16867216]

qacc:
[-8.80979508e+01,-6.91778325e+00,-2.43462684e+00, 2.32456506e+02,
  6.17200103e+00,-2.23081618e+01, 2.63254392e+01,-8.47915598e+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,
 -2.64292796e+00, 1.07036954e+00,-2.69402344e+00, 1.45334580e+01,
 -7.95903944e+01,-3.97159841e+01]

qfrc_actuator:
[-8.31237761e-02, 3.23286560e-01, 9.18632056e-02, 3.05499173e-02,
 -1.63015989e-02, 2.42676389e-01, 4.62114829e-02, 1.60399771e-02,
 -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([ 0.43067336, -0.23573237, -0.36043   , -0.23573237,  1.57353191,
       -0.74746485, -0.36043   , -0.74746485,  0.91953849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014973964753136931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67494361, -0.62230363, -0.39647108, -0.29148351, -0.26875023,
        0.91804721, -0.67785581,  0.73519488,  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([ 0.08897454, -0.02880375,  0.1182064 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09237299, -4.07282556,  0.39951058, -4.07282556,  4.24984641,
        1.60536866,  0.39951058,  1.60536866, 20.45836369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7943106138146314e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.80074641e-12, -1.23749257e-11,  1.00000000e+00,  7.17838057e-23,
        1.00000000e+00,  1.23749257e-11, -1.00000000e+00,  0.00000000e+00,
        5.80074641e-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([ 0.07051321, -0.0862758 ,  0.06199941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.25868136e-02, 9.02198137e-02, 5.23664698e-02, 2.48747980e-02,
  4.18357398e-04,-6.04065123e-03,-2.42904836e-03,-6.94869298e-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,
  1.41290766e-01, 4.02556312e-02,-5.06187912e+00,-3.50790645e-03,
  1.94813514e-02, 3.39815290e-03]


--- Step 1896 ---
qpos:
[ 0.08290236, 0.44090499,-0.10532325,-0.02815511, 0.01200733, 0.50234239,
 -0.06288525,-0.01069248,-0.00319163, 0.65019972,-0.01502203,-0.02029171,
  1.38431965, 0.01886124, 1.36034927, 0.02433669, 0.04540819,-0.05791736,
  0.12488202, 0.91907364,-0.02020783,-0.35451055,-0.17093143]

qacc:
[-90.07921984,-23.58751749, 50.19070905,193.49116493,  6.00961504,
 -19.91418062, 14.84836303,-65.98463443, -0.29090455,-14.24549449,
  28.67933744,-15.36449831, -0.468427  ,  0.66165219,  0.37017173,
  -1.29647763, -2.51939868,  0.96590616, -3.16598346, 14.45367258,
 -77.52234271,-43.14540887]

qfrc_actuator:
[-8.28261281e-02, 3.20397159e-01, 9.10935395e-02, 3.04455543e-02,
 -1.59896764e-02, 2.40554916e-01, 4.53165137e-02, 1.57180329e-02,
 -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([ 0.43067336, -0.25153504, -0.34958498, -0.25153504,  1.43520482,
       -0.72278524, -0.34958498, -0.72278524,  0.95073522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001384091811554169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66542508, -0.62679597, -0.40538411, -0.29508703, -0.2779567 ,
        0.91414644, -0.68566253,  0.72791956,  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([ 0.08851637, -0.02886115,  0.11830121])
  solimp: array([9.0e-01, 9.5e-01, 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([  4.09149215,   2.95752085,   2.82725634,   2.95752085,
        13.92198285, -10.28342592,   2.82725634, -10.28342592,
        14.84872206,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.1325013462695765e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.45082054e-12, -9.80328216e-12,  1.00000000e+00,  2.40260853e-23,
        1.00000000e+00,  9.80328216e-12, -1.00000000e+00,  0.00000000e+00,
        2.45082054e-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([ 0.07048164, -0.0862972 ,  0.06199963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.87670519e-02, 8.60727221e-02, 5.02696077e-02, 2.39276010e-02,
  4.14765354e-04,-6.18767183e-03,-2.52520140e-03,-6.90209946e-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,
  1.50270057e-01, 4.17956240e-02,-5.06625587e+00,-3.36581300e-03,
  1.99102290e-02, 3.40659592e-03]


--- Step 1897 ---
qpos:
[ 0.08238629, 0.44534133,-0.10451329,-0.02801163, 0.01169336, 0.50685579,
 -0.06206106,-0.01039419,-0.0031823 , 0.65310673,-0.01505553,-0.02029809,
  1.38438964, 0.01886061, 1.36044282, 0.02433781, 0.04446789,-0.0578049 ,
  0.12444437, 0.91567888,-0.01976431,-0.36207038,-0.17333958]

qacc:
[-1.68562628e+02,-6.26372604e+01, 2.19202360e+02,-1.55268653e+02,
  5.65717710e+00,-2.23400424e+01, 1.66043557e+01,-5.55589160e+01,
 -2.92465443e-01,-2.24576619e+01, 5.05388058e+01,-2.98546791e+01,
 -2.01709116e-01, 3.73416511e-01, 1.25578716e+00,-4.38222358e+00,
 -9.83688545e-01,-2.13974090e+00,-9.55722387e+00,-5.46854434e+00,
 -2.02592335e+01,-8.61984362e+01]

qfrc_actuator:
[-8.24705919e-02, 3.17183440e-01, 9.03202510e-02, 3.02822709e-02,
 -1.56960383e-02, 2.38265624e-01, 4.44181275e-02, 1.54248567e-02,
 -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([ 0.43067336,  0.37998799, -0.20270339,  0.37998799,  0.39437334,
       -0.06804805, -0.20270339, -0.06804805,  0.30311041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012695634096948673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.56543803e-01, -6.31109191e-01, -4.13099774e-01, -2.97817431e-01,
       -2.86279936e-01,  9.10685773e-01, -6.93004338e-01,  7.20933414e-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([ 0.08804641, -0.02892105,  0.11841313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.47495981e-02, 8.16279292e-02, 4.78239701e-02, 2.28499033e-02,
  3.96942400e-04,-6.45535799e-03,-2.56984408e-03,-6.70806927e-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,
  1.59568745e-01, 4.34958873e-02,-5.07033592e+00,-3.21251043e-03,
  2.03448267e-02, 3.41411916e-03]


--- Step 1898 ---
qpos:
[ 0.08179109, 0.44979206,-0.10367333,-0.02784829, 0.01138553, 0.51131918,
 -0.06125228,-0.01010158,-0.00317264, 0.65599598,-0.015086  ,-0.02030359,
  1.3844595 , 0.01885986, 1.36053616, 0.02433999, 0.04351748,-0.05768704,
  0.12399593, 0.91213372,-0.01928095,-0.36977242,-0.17580863]

qacc:
[-9.44454935e+01,-2.29713785e+01, 2.67055662e+01, 2.56909491e+02,
  5.83818320e+00,-3.46614940e+01, 5.17459391e+01,-8.89448223e+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,
 -2.52677396e+00, 1.34956346e+00,-2.69801981e+00, 1.80602896e+01,
 -8.82862661e+01,-4.95385631e+01]

qfrc_actuator:
[-8.19852092e-02, 3.13898354e-01, 8.95288554e-02, 3.01222958e-02,
 -1.53800489e-02, 2.35664472e-01, 4.36134480e-02, 1.51331446e-02,
 -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([ 0.43067336,  0.38515078, -0.1927133 ,  0.38515078,  1.21595555,
        1.56944047, -0.1927133 ,  1.56944047,  3.56730805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011352024892617525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6483206 , -0.635119  , -0.41988601, -0.29994237, -0.29383471,
        0.90757685, -0.69979638,  0.71434237,  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([ 0.08756211, -0.02898806,  0.11853661])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09107231,  2.39219296, -3.31877771,  2.39219296, 10.37107239,
        4.52665809, -3.31877771,  4.52665809,  7.35391199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.992320027438749e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15822389e-06,  1.15822389e-06,  1.00000000e+00,  1.34148258e-12,
        1.00000000e+00, -1.15822389e-06, -1.00000000e+00,  0.00000000e+00,
       -1.15822389e-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([ 0.07040029, -0.08636212,  0.0619998 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.72908764e-02, 7.74923988e-02, 4.52101151e-02, 2.22946531e-02,
  4.16020052e-04,-6.92324060e-03,-2.53539349e-03,-6.81797892e-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,
  1.65956303e-01, 4.74772910e-02,-5.06985738e+00,-2.97567898e-03,
  2.07542701e-02, 3.51460061e-03]


--- Step 1899 ---
qpos:
[ 0.08112376, 0.45425966,-0.10280277,-0.02766384, 0.01108408, 0.51572944,
 -0.06045851,-0.00981391,-0.00316281, 0.65886619,-0.01511489,-0.02030827,
  1.38452909, 0.01885896, 1.36062981, 0.02433982, 0.04255781,-0.05756326,
  0.12353504, 0.90843633,-0.0187679 ,-0.37761701,-0.17831598]

qacc:
[-8.47190755e+01,-1.88691494e+01, 1.15273620e+01, 2.90998751e+02,
  5.97781082e+00,-3.82975396e+01, 5.55593131e+01,-7.79950099e+01,
  1.33164029e-01,-2.78708916e+01, 5.93561138e+01,-3.34539979e+01,
 -3.49718501e-01, 2.07873994e-01, 7.62571868e+00,-2.59073820e+01,
 -2.31341828e+00, 1.47986397e+00,-3.11062658e+00, 1.75224423e+01,
 -9.01811480e+01,-3.77091775e+01]

qfrc_actuator:
[-8.13729103e-02, 3.10670959e-01, 8.86822814e-02, 2.99490614e-02,
 -1.50532624e-02, 2.32934268e-01, 4.28341232e-02, 1.48799954e-02,
 -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([ 0.43067336,  0.39071302, -0.18117084,  0.39071302,  0.60045385,
        0.3661486 , -0.18117084,  0.3661486 ,  1.22030939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010003946345070206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.40059246e-01, -6.39221630e-01, -4.26286135e-01, -3.01627115e-01,
       -3.01232390e-01,  9.04588376e-01, -7.06643648e-01,  7.07569611e-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([ 0.08707558, -0.02906072,  0.11866801])
  solimp: array([9.0e-01, 9.5e-01, 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([  4.09152041,  -1.59797423,  -3.76656576,  -1.59797423,
        28.0012891 , -10.14377465,  -3.76656576, -10.14377465,
         8.39504026,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.159619217024066e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.18052319e-12,  4.78701546e-12,  1.00000000e+00, -3.43732756e-23,
        1.00000000e+00, -4.78701546e-12, -1.00000000e+00,  0.00000000e+00,
        7.18052319e-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([ 0.06980768, -0.08807283,  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:
[-5.27122318e-02, 7.33924727e-02, 4.28063051e-02, 2.11174251e-02,
  4.32930850e-04,-7.30513622e-03,-2.60191647e-03,-6.62110410e-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,
  1.76870748e-01, 4.95618122e-02,-5.07447838e+00,-2.78534109e-03,
  2.12042440e-02, 3.50137333e-03]


--- Step 1900 ---
qpos:
[ 0.08038718, 0.45876462,-0.10191027,-0.02745943, 0.01078859, 0.5200904 ,
 -0.05968301,-0.00953269,-0.0031529 , 0.6617217 ,-0.01514578,-0.02031326,
  1.38459847, 0.01885809, 1.36072371, 0.02433614, 0.04158946,-0.05743381,
  0.12305945, 0.9045875 ,-0.01822503,-0.38559162,-0.18085465]

qacc:
[-8.01509325e+01, 2.91827547e+01,-1.16333446e+02, 3.99070107e+02,
  5.51701533e+00,-2.73327491e+01, 3.01143239e+01,-7.62943413e+01,
  6.18351438e-02,-1.44952311e+01, 2.48545973e+01,-1.63879843e+01,
 -4.96515482e-01, 4.84897460e-01, 1.10739918e+01,-3.80531138e+01,
 -2.17337737e+00, 1.41561493e+00,-3.67781256e+00, 1.78025467e+01,
 -8.47013453e+01,-3.45832865e+01]

qfrc_actuator:
[-8.06775787e-02, 3.09546990e-01, 8.77899986e-02, 2.97941862e-02,
 -1.47581845e-02, 2.30806594e-01, 4.20402711e-02, 1.45804901e-02,
 -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:
<MjContact
  H: array([ 0.41490038,  0.3818174 , -0.16235087,  0.3818174 ,  0.43595191,
        0.04950907, -0.16235087,  0.04950907,  0.53133601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008657484640535653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.31388207e-01, -6.43405216e-01, -4.32872569e-01, -3.03188288e-01,
       -3.08958773e-01,  9.01455123e-01, -7.13740706e-01,  7.00410026e-01,
       -5.55111512e-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([ 0.08659036, -0.02913926,  0.11880049])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09105777,  1.23686534,  3.89960483,  1.23686534, 15.28805912,
       -3.55143237,  3.89960483, -3.55143237,  5.21749078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.719135394960384e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45593208e-11,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.45593208e-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([ 0.069762  , -0.0880978 ,  0.06199981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84027014e-02, 7.12712009e-02, 4.03264078e-02, 1.98960352e-02,
  4.06909198e-04,-6.92679951e-03,-2.70193741e-03,-7.26560081e-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,
  1.88121734e-01, 5.09320110e-02,-5.07892666e+00,-2.63134224e-03,
  2.16478738e-02, 3.48759192e-03]


--- Step 1901 ---
qpos:
[ 0.07953601, 0.46331453,-0.10100975,-0.02724506, 0.0104989 , 0.52440774,
 -0.0589269 ,-0.00925848,-0.00314296, 0.66456504,-0.01517954,-0.02031923,
  1.38466748, 0.01885758, 1.3608172 , 0.02433298, 0.04061859,-0.05730981,
  0.12254482, 0.90062789,-0.01763578,-0.39356317,-0.1834841 ]

qacc:
[-1.30634024e+02, 5.70280010e+01,-1.59219276e+02, 2.86311058e+02,
  5.30071957e+00,-1.79324633e+01, 9.86252670e+00,-6.81436467e+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,
 -6.27899993e-01,-1.35941386e+00,-9.75658508e+00, 2.18662057e+00,
 -1.49557766e+01,-5.99929681e+01]

qfrc_actuator:
[-7.99774517e-02, 3.09657852e-01, 8.69199666e-02, 2.95897647e-02,
 -1.44665185e-02, 2.29182149e-01, 4.12824813e-02, 1.42744142e-02,
 -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:
<MjContact
  H: array([ 0.37278682,  0.35569056, -0.11159856,  0.35569056,  0.34901133,
       -0.07577801, -0.11159856, -0.07577801,  0.13126468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007294634944026932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.62277387, -0.64746914, -0.43924527, -0.30449741, -0.31657185,
        0.89836718, -0.72071772,  0.69322866,  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([ 0.08609996, -0.02922064,  0.11893997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42309718e-02, 6.93603528e-02, 3.83016191e-02, 1.86819531e-02,
  3.98115028e-04,-6.23331973e-03,-2.60145608e-03,-7.21478004e-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,
  1.99313058e-01, 5.20498061e-02,-5.08267929e+00,-2.49345977e-03,
  2.20925075e-02, 3.47182475e-03]


--- Step 1902 ---
qpos:
[ 0.07857676, 0.46790503,-0.10009332,-0.02701833, 0.01021466, 0.52868555,
 -0.05818952,-0.00899053,-0.00313302, 0.66739778,-0.01521484,-0.02032593,
  1.38473623, 0.01885735, 1.36091055, 0.0243299 , 0.03964548,-0.05719032,
  0.12199101, 0.8965612 ,-0.01700099,-0.40152773,-0.18618392]

qacc:
[-1.21287277e+02, 3.45041176e+01,-9.71024418e+01, 2.55610374e+02,
  4.91497274e+00,-1.28187580e+01,-3.70812058e+00,-4.56155583e+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,
 -5.58572991e-01,-1.12976917e+00,-9.79767260e+00, 5.07872644e+00,
 -1.31220361e+01,-5.04103759e+01]

qfrc_actuator:
[-7.91836534e-02, 3.08623037e-01, 8.60151828e-02, 2.93221251e-02,
 -1.41968801e-02, 2.27696143e-01, 4.05369914e-02, 1.40030436e-02,
 -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:
<MjContact
  H: array([ 0.31006496,  0.30352241, -0.06335948,  0.30352241,  0.30026934,
       -0.04692573, -0.06335948, -0.04692573,  0.0852681 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005742775941045422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.14229693e-01, -6.51000240e-01, -4.46005126e-01, -3.06078530e-01,
       -3.24401766e-01,  8.95030406e-01, -7.27349859e-01,  6.86266845e-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([ 0.08560074, -0.02930614,  0.11907655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76850824e-02, 6.59253199e-02, 3.69394508e-02, 1.79048538e-02,
  3.75283104e-04,-5.68429987e-03,-2.43258907e-03,-6.53337140e-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,
  2.05575907e-01, 5.45518959e-02,-5.08070083e+00,-2.35259476e-03,
  2.25067908e-02, 3.54277336e-03]


--- Step 1903 ---
qpos:
[ 0.07757085, 0.47255003,-0.09914484,-0.02676673, 0.00993556, 0.53292802,
 -0.05747105,-0.00872902,-0.0031229 , 0.67022325,-0.01525151,-0.02033366,
  1.38480481, 0.01885728, 1.36100368, 0.0243279 , 0.03866279,-0.05706082,
  0.12142556, 0.89233615,-0.01634856,-0.4096426 ,-0.18884348]

qacc:
[-5.15417780e+01, 3.37594673e+01,-1.20428421e+02, 4.59194102e+02,
  4.57660439e+00,-7.20067136e+00,-1.49630290e+01,-4.02258747e+01,
  1.29533241e-01,-7.90613660e+00, 1.86230863e+01,-2.89681776e+01,
 -1.14657674e-01, 1.78377202e-01,-3.54887705e+00, 1.19845966e+01,
 -2.39864214e+00, 2.50466496e+00,-2.90802661e+00, 2.86319755e+01,
 -9.78825314e+01,-1.51849277e+00]

qfrc_actuator:
[-7.82765789e-02, 3.07402035e-01, 8.50784345e-02, 2.91344454e-02,
 -1.39424228e-02, 2.26395324e-01, 3.97704813e-02, 1.37190463e-02,
 -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([ 0.24697104,  0.24209766, -0.04882023,  0.24209766,  0.2421116 ,
       -0.02409777, -0.04882023, -0.02409777,  0.12747113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003991915322421653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.06011298e-01, -6.53767227e-01, -4.53143156e-01, -3.08052771e-01,
       -3.32328467e-01,  8.91437760e-01, -7.33385163e-01,  6.79813358e-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([ 0.08508995, -0.02939271,  0.11921037])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09513319,  1.72318619, -3.71493542,  1.72318619, 12.85469336,
        4.06315357, -3.71493542,  4.06315357,  5.97984162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.047027984236922e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73271947e-12, -2.27726622e-12,  1.00000000e+00,  6.22312973e-24,
        1.00000000e+00,  2.27726622e-12, -1.00000000e+00,  0.00000000e+00,
        2.73271947e-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([ 0.06958013, -0.08816638,  0.06199894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13525761e-02, 6.25224546e-02, 3.51495475e-02, 1.70880435e-02,
  3.55334989e-04,-5.15264287e-03,-2.31630296e-03,-6.35125432e-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,
  2.11495259e-01, 5.64671994e-02,-5.07838280e+00,-2.25336805e-03,
  2.29159515e-02, 3.60084983e-03]


--- Step 1904 ---
qpos:
[ 0.07652352, 0.47725965,-0.09815743,-0.02648909, 0.00966262, 0.5371379 ,
 -0.05677096,-0.00847287,-0.00311283, 0.67304502,-0.01529005,-0.02034216,
  1.38487347, 0.01885703, 1.36109637, 0.0243296 , 0.03767144,-0.05692208,
  0.12084557, 0.88795437,-0.01567823,-0.41789186,-0.19146183]

qacc:
[-4.50537049e+01, 3.04141064e+01,-9.39510457e+01, 4.34349019e+02,
  5.43457279e+00,-2.79349590e+00,-2.99712137e+01,-9.36045362e+00,
 -3.24054435e-02,-1.23336679e+00, 4.97270677e-01,-7.94551325e+00,
  5.02350555e-01,-6.19148165e-01,-1.19378988e+01, 4.06391796e+01,
 -2.16086930e+00, 2.30753482e+00,-3.63682807e+00, 2.78406307e+01,
 -9.07068833e+01,-1.17660892e+00]

qfrc_actuator:
[-7.73374825e-02, 3.05897149e-01, 8.41177674e-02, 2.88885256e-02,
 -1.36101771e-02, 2.25146224e-01, 3.89990210e-02, 1.34834140e-02,
 -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([ 0.21631355,  0.21268919, -0.03943173,  0.21268919,  0.21214655,
       -0.0224762 , -0.03943173, -0.0224762 ,  0.09508008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002269626669599137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.59790174, -0.65610841, -0.46047288, -0.31015621, -0.34035041,
        0.88767377, -0.73913236,  0.67356021,  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([ 0.08457128, -0.0294775 ,  0.1193478 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09991933,  2.53607761, -3.22143583,  2.53607761, 16.50563374,
        9.76640735, -3.22143583,  9.76640735, 11.78853035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.447842651096601e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24023325e-13,  1.24804665e-12,  1.00000000e+00, -7.78810221e-25,
        1.00000000e+00, -1.24804665e-12, -1.00000000e+00,  0.00000000e+00,
        6.24023325e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06951035, -0.08818914,  0.06199845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80749193e-02, 5.81347074e-02, 3.25276881e-02, 1.55871164e-02,
  4.28982748e-04,-4.77726704e-03,-2.19578934e-03,-5.59467152e-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,
  2.23795676e-01, 5.54874009e-02,-5.08231924e+00,-2.22073947e-03,
  2.33594739e-02, 3.52748971e-03]


--- Step 1905 ---
qpos:
[ 0.07544106, 0.4820332 ,-0.09712304,-0.02618385, 0.00939599, 0.54131497,
 -0.05608683,-0.00822121,-0.00310286, 0.67586206,-0.01532848,-0.0203491 ,
  1.38494217, 0.01885664, 1.36118914, 0.02433259, 0.03667242,-0.05677481,
  0.12024841, 0.88341708,-0.01498942,-0.42626159,-0.19403773]

qacc:
[-3.76115413e+01, 1.06783510e+01,-3.13203458e+01, 3.86276630e+02,
  5.50989912e+00,-8.05233203e+00,-1.53278582e+01,-1.25939650e+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,
 -1.91969415e+00, 2.13549622e+00,-4.29036475e+00, 2.73904116e+01,
 -8.45499911e+01,-8.44070097e-01]

qfrc_actuator:
[-7.63479961e-02, 3.03408900e-01, 8.31585459e-02, 2.86142995e-02,
 -1.32876018e-02, 2.23708757e-01, 3.82848981e-02, 1.32782977e-02,
 -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([ 0.20472001,  0.20147589, -0.03630082,  0.20147589,  0.20047837,
       -0.02354187, -0.03630082, -0.02354187,  0.07405849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.6147375512165806e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.89813347e-01, -6.57994696e-01, -4.68148690e-01, -3.12477154e-01,
       -3.48598944e-01,  8.83649707e-01, -7.44632959e-01,  6.67474161e-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([ 0.08404414, -0.02956004,  0.11948771])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09918257,  1.98980816, -3.58384726,  1.98980816, 13.99229449,
        5.49281077, -3.58384726,  5.49281077,  7.14887718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.262461018305491e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30232631e-12, -1.30232631e-12,  1.00000000e+00,  1.69605381e-24,
        1.00000000e+00,  1.30232631e-12, -1.00000000e+00,  0.00000000e+00,
        1.30232631e-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([ 0.06945075, -0.08821885,  0.0619985 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50090393e-02, 5.22553677e-02, 2.95618232e-02, 1.39992742e-02,
  4.41118047e-04,-4.72612595e-03,-2.04279525e-03,-5.07096359e-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,
  2.35885554e-01, 5.43252567e-02,-5.08538632e+00,-2.19983897e-03,
  2.37996390e-02, 3.45509289e-03]


--- Step 1906 ---
qpos:
[ 0.07402013, 0.48709198,-0.0958273 ,-0.02569418, 0.00913485, 0.54545514,
 -0.05541531,-0.00797456,-0.00309277, 0.67867088,-0.01536474,-0.0203551 ,
  1.3850108 , 0.01885618, 1.36128225, 0.0243343 , 0.03566788,-0.0566161 ,
  0.11963349, 0.87874733,-0.0143236 ,-0.43472104,-0.19650847]

qacc:
[-3.56855720e+02, 3.01095606e+01,-3.33938847e+02, 2.89180454e+03,
  4.74377402e+00,-2.38341875e+01, 3.54194315e+01,-7.50654739e+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,
 -1.38145230e+00, 2.85695538e+00,-4.44118755e+00, 1.99658956e+01,
 -7.08860919e+01, 3.78240478e+01]

qfrc_actuator:
[-7.52647354e-02, 3.00234458e-01, 8.21588295e-02, 2.83288481e-02,
 -1.30267000e-02, 2.21780973e-01, 3.76278515e-02, 1.30217478e-02,
 -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([ 4.09643638, -3.46804199,  2.18024673, -3.46804199,  7.06723919,
        4.72555181,  2.18024673,  4.72555181, 11.61320588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4850063421805466e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95535334e-13,  1.59285653e-12,  1.00000000e+00,  1.58574496e-24,
        1.00000000e+00, -1.59285653e-12, -1.00000000e+00,  0.00000000e+00,
       -9.95535334e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06861723, -0.08788886,  0.06199876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21648676e-02, 4.57213333e-02, 2.61524541e-02, 1.23209089e-02,
  3.84205317e-04,-5.15253213e-03,-1.95382940e-03,-5.49888000e-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,
  2.47790963e-01, 5.29956379e-02,-5.08764734e+00,-2.18915788e-03,
  2.42363844e-02, 3.38216964e-03]


--- Step 1907 ---
qpos:
[ 0.07254463, 0.49234555,-0.09444261,-0.02518447, 0.0088789 , 0.54955786,
 -0.05475668,-0.0077344 ,-0.00308257, 0.68147056,-0.01539965,-0.02036226,
  1.38507927, 0.01885571, 1.36137501, 0.02433851, 0.03465853,-0.05644699,
  0.11899845, 0.87394426,-0.01367453,-0.44326256,-0.19887872]

qacc:
[-5.66953081e+01, 5.07284649e+01, 1.08670966e+02,-4.76265008e+01,
  4.45551943e+00,-2.67500966e+01, 5.09437595e+01,-1.15045400e+02,
  8.44161554e-02,-1.82605363e+01, 5.25271071e+01,-6.82031142e+01,
  1.00132169e-01,-1.53826819e-01,-8.09217760e+00, 2.75202343e+01,
 -1.20016628e+00, 2.60133991e+00,-5.03123375e+00, 2.15939117e+01,
 -6.74028985e+01, 3.41100474e+01]

qfrc_actuator:
[-7.37368074e-02, 2.96738741e-01, 8.08483873e-02, 2.78865636e-02,
 -1.27689890e-02, 2.19984524e-01, 3.70080831e-02, 1.27011619e-02,
 -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([ 4.09284708,  1.30550743, -3.87905241,  1.30550743, 12.78629802,
        2.92580857, -3.87905241,  2.92580857,  5.07753727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0644039590692054e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68896749e-12, -4.70569310e-12,  1.00000000e+00,  1.26534557e-23,
        1.00000000e+00,  4.70569310e-12, -1.00000000e+00,  0.00000000e+00,
        2.68896749e-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([ 0.06856833, -0.08791978,  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:
[-3.58550683e-03, 2.78073177e-02, 1.17199773e-02, 2.64741514e-03,
  3.65959648e-04,-5.24146312e-03,-1.99444077e-03,-6.29793147e-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,
  2.57476972e-01, 4.90853883e-02,-5.08823358e+00,-2.34826884e-03,
  2.46079818e-02, 3.34624932e-03]


--- Step 1908 ---
qpos:
[ 0.0710814 , 0.49769775,-0.09301432,-0.02466785, 0.00862777, 0.55362787,
 -0.05411342,-0.00750094,-0.00307251, 0.68425914,-0.01543346,-0.02036859,
  1.38514723, 0.01885621, 1.36146761, 0.02434528, 0.03365131,-0.05627773,
  0.11832266, 0.86905207,-0.01300274,-0.4517569 ,-0.20123404]

qacc:
[ 1.24998210e+01, 2.30038555e+01, 7.81461606e+01,-1.00932668e+02,
  4.07536322e+00,-1.40825296e+01, 1.57301532e+01,-8.30023650e+01,
 -8.50677042e-02,-1.60009703e+01, 3.22514397e+01,-1.14380198e+01,
 -7.59153134e-01, 1.24625109e+00,-7.92539877e+00, 2.75833729e+01,
  5.29808012e-01, 3.76412681e-02,-1.01852577e+01, 7.93459997e+00,
  3.02279975e+00,-7.05862009e+00]

qfrc_actuator:
[-7.20905936e-02, 2.92866819e-01, 7.94726225e-02, 2.74230357e-02,
 -1.25328562e-02, 2.18779259e-01, 3.63982608e-02, 1.23988829e-02,
 -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:
No contacts

qfrc_smooth:
[ 8.16627175e-04, 1.40161148e-02, 5.82977401e-03, 1.16853236e-03,
  3.40238871e-04,-4.71015527e-03,-2.00996246e-03,-6.18116851e-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,
  2.67140002e-01, 4.52599277e-02,-5.08830771e+00,-2.49818205e-03,
  2.49821901e-02, 3.30051983e-03]


--- Step 1909 ---
qpos:
[ 0.06964463, 0.50308673,-0.09156959,-0.02415231, 0.00838163, 0.5576723 ,
 -0.05348759,-0.00727356,-0.00306242, 0.68703918,-0.0154679 ,-0.0203751 ,
  1.38521515, 0.01885718, 1.36156055, 0.02435089, 0.03264623,-0.05610833,
  0.11760618, 0.86407126,-0.01230808,-0.46020315,-0.20357416]

qacc:
[ 2.65563283e+01, 6.05006098e-01, 7.29416389e+01,-1.44904008e+02,
  4.17768568e+00, 2.28704515e+00,-3.16170116e+01,-2.68426112e+01,
  2.54568965e-02,-9.91907904e+00, 1.97647849e+01,-1.56424344e+01,
 -4.29742038e-01, 7.24278237e-01, 4.09217390e+00,-1.34266490e+01,
  5.37256549e-01, 3.54345098e-02,-1.01746182e+01, 7.96084991e+00,
  3.07986778e+00,-7.16134383e+00]

qfrc_actuator:
[-7.05249346e-02, 2.89177979e-01, 7.80674458e-02, 2.68631202e-02,
 -1.22758585e-02, 2.18134223e-01, 3.57665324e-02, 1.21459012e-02,
 -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:
No contacts

qfrc_smooth:
[ 1.76312350e-03, 5.20894241e-03, 2.17302560e-03, 2.48832774e-04,
  3.54872092e-04,-3.85405856e-03,-1.92302902e-03,-5.46246734e-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,
  2.70878739e-01, 4.42739431e-02,-5.08300170e+00,-2.57469120e-03,
  2.53477921e-02, 3.34637192e-03]


--- Step 1910 ---
qpos:
[ 0.06823522, 0.50848057,-0.09012932,-0.023641  , 0.00814044, 0.56169707,
 -0.05287938,-0.00705229,-0.00305185, 0.68981312,-0.01550365,-0.02038221,
  1.38528346, 0.01885726, 1.3616534 , 0.02435701, 0.03163558,-0.05592644,
  0.11687261, 0.85893389,-0.01163961,-0.46877926,-0.20577438]

qacc:
[ 27.00633625,  9.95557834, -8.58029532,-60.62416876,  4.09214095,
  10.57421343,-49.69510431,-13.28546013,  0.31126158, -5.63287678,
  10.92769006,-14.72706361,  0.89441788, -1.36697088, -1.79998715,
   5.81457561, -1.39339915,  3.12277777, -4.2711977 , 33.12754789,
 -95.6597105 , 49.73557621]

qfrc_actuator:
[-6.91154689e-02, 2.86455763e-01, 7.66365824e-02, 2.63748576e-02,
 -1.20262015e-02, 2.17742516e-01, 3.51121148e-02, 1.18890552e-02,
 -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([ 4.09555904,  0.58743004, -4.05321228,  0.58743004, 15.63235251,
        1.67202174, -4.05321228,  1.67202174,  4.33788432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.196783902088829e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.51175755e-13, -1.73646868e-12,  1.00000000e+00, -1.13074630e-24,
        1.00000000e+00,  1.73646868e-12, -1.00000000e+00,  0.00000000e+00,
       -6.51175755e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06768061, -0.08898845,  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:
[ 1.83192207e-03, 4.59898508e-04,-1.53916610e-04,-2.00852526e-04,
  3.53121200e-04,-3.09976894e-03,-1.75515806e-03,-5.08924196e-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,
  2.74507846e-01, 4.32876211e-02,-5.07761979e+00,-2.65176368e-03,
  2.57033610e-02, 3.38977290e-03]


--- Step 1911 ---
qpos:
[ 0.0668507 , 0.51385914,-0.08870433,-0.0231367 , 0.00790385, 0.56570274,
 -0.0522865 ,-0.00683522,-0.00304126, 0.69257667,-0.01553764,-0.02038882,
  1.38535163, 0.01885733, 1.36174615, 0.02436409, 0.03062032,-0.05573344,
  0.1161191 , 0.85364047,-0.01099017,-0.4774706 ,-0.20784365]

qacc:
[ 2.41752795e+01, 7.78335598e+00,-2.76741753e+01,-5.77712108e+01,
  3.77367208e+00, 8.82290711e+00,-5.04278605e+01, 1.63631077e+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,
 -1.15127087e+00, 2.77632729e+00,-4.98417843e+00, 3.34716503e+01,
 -8.87867941e+01, 4.39728520e+01]

qfrc_actuator:
[-6.78822162e-02, 2.83957928e-01, 7.51691208e-02, 2.58621549e-02,
 -1.18006515e-02, 2.17045544e-01, 3.44512512e-02, 1.17033633e-02,
 -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([ 4.10017939,  1.24698753, -3.90595611,  1.24698753, 10.01745936,
        1.88910836, -3.90595611,  1.88910836,  4.70328258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5114474461691034e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69031889e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.69031889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06759322, -0.08900227,  0.06199831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67517955e-03,-2.46762671e-03,-1.47306518e-03,-5.17708785e-04,
  3.29770905e-04,-2.94595918e-03,-1.58333987e-03,-3.98821094e-04,
  8.31812863e-07,-1.27876318e-03,-2.03029717e-04,-3.72834586e-05,
 -1.77941839e-05,-7.67903026e-06, 1.08022554e-06, 5.09643824e-05,
  2.86944277e-01, 3.80477221e-02,-5.07902255e+00,-2.83023098e-03,
  2.60681128e-02, 3.26615069e-03]


--- Step 1912 ---
qpos:
[ 0.06548901, 0.51920407,-0.08729747,-0.02264187, 0.00767228, 0.56968406,
 -0.05170509,-0.00662081,-0.003031  , 0.69532638,-0.01556924,-0.02039559,
  1.3854195 , 0.01885792, 1.36183893, 0.02437138, 0.02960143,-0.05553061,
  0.11534309, 0.84819101,-0.01035311,-0.48626457,-0.20978939]

qacc:
[  21.83451875, -13.36767998,  22.92467168,-132.81429814,   4.08994369,
   -5.6402803 , -15.3704568 ,   5.56127735,  -0.20010231, -25.33933519,
   64.51371389, -61.03760339,  -0.53651697,   0.80520009,  -0.51222444,
    2.01673983,  -0.90865322,   2.45658168,  -5.62708014,  34.01490328,
  -83.02813002,  38.89771659]

qfrc_actuator:
[-6.67454163e-02, 2.80920545e-01, 7.37278194e-02, 2.52682653e-02,
 -1.15379408e-02, 2.15675649e-01, 3.38267738e-02, 1.15608998e-02,
 -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([ 4.09837925,  0.78231062, -4.02302157,  0.78231062,  7.96179819,
        0.75127454, -4.02302157,  0.75127454,  4.24447094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.0506019554603645e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22696828e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.22696828e-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([ 0.06751839, -0.08902626,  0.06199847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54394589e-03,-4.92710553e-03,-2.22415131e-03,-7.75819985e-04,
  3.60981641e-04,-3.49166460e-03,-1.48970646e-03,-3.40808997e-04,
 -2.77313240e-05,-1.70372963e-03,-2.67817870e-04,-9.22191284e-05,
 -1.31113780e-05, 3.40492482e-05, 4.00785973e-06, 1.13029680e-05,
  2.99161218e-01, 3.29758305e-02,-5.07956135e+00,-2.99614544e-03,
  2.64315611e-02, 3.13731799e-03]


--- Step 1913 ---
qpos:
[ 0.06415021, 0.52450041,-0.08591072,-0.02215688, 0.00744613, 0.57363416,
 -0.05113217,-0.00640997,-0.00302066, 0.69806066,-0.01560019,-0.02040167,
  1.38548749, 0.01885779, 1.36193182, 0.02437771, 0.02857987,-0.05531915,
  0.11454225, 0.84258508,-0.00972227,-0.49515027,-0.21161774]

qacc:
[ 2.15654137e+01,-2.82347226e+01, 4.89665210e+01,-1.51470288e+02,
  4.38776178e+00,-2.48104674e+01, 4.36667420e+01,-6.88979410e+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,
 -6.66522469e-01, 2.16048879e+00,-6.20625962e+00, 3.47142876e+01,
 -7.82112800e+01, 3.44084132e+01]

qfrc_actuator:
[-6.55678645e-02, 2.77441896e-01, 7.23111736e-02, 2.46841703e-02,
 -1.12551907e-02, 2.13790619e-01, 3.32796607e-02, 1.13557512e-02,
 -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([ 4.09295689,  0.45544145, -4.06753846,  0.45544145,  6.37271297,
        0.25526382, -4.06753846,  0.25526382,  4.12153872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1220558843910997e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63494608e-12, -2.61591373e-12,  1.00000000e+00,  4.27687790e-24,
        1.00000000e+00,  2.61591373e-12, -1.00000000e+00,  0.00000000e+00,
        1.63494608e-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([ 0.067454  , -0.08905893,  0.06199919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55575042e-03,-6.90680359e-03,-2.80778253e-03,-9.02053088e-04,
  3.91225559e-04,-4.28892916e-03,-1.51097802e-03,-4.22388091e-04,
  6.45782117e-06,-1.95538486e-03,-4.26452222e-04,-6.54571059e-05,
 -1.33291424e-05,-5.72538017e-05, 3.03952790e-07,-5.04988856e-05,
  3.11209423e-01, 2.80601639e-02,-5.07930096e+00,-3.14935097e-03,
  2.67932310e-02, 3.00196222e-03]


--- Step 1914 ---
qpos:
[ 0.06283503, 0.52973967,-0.08454777,-0.02168157, 0.00722515, 0.57754998,
 -0.0505687 ,-0.00620328,-0.0030104 , 0.70077825,-0.01563095,-0.02040767,
  1.38555545, 0.01885698, 1.362025  , 0.02438104, 0.02756088,-0.0551077 ,
  0.11370075, 0.8368825 ,-0.00906623,-0.50397703,-0.21343063]

qacc:
[ 2.19254148e+01,-2.88367122e+01, 3.41383832e+01,-1.21685016e+02,
  4.15948519e+00,-2.73763843e+01, 4.94560447e+01,-8.11402787e+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,
  6.41012600e-01,-5.36255964e-03,-1.01661181e+01, 7.74056601e+00,
  3.50127898e+00,-9.66293702e+00]

qfrc_actuator:
[-6.43395441e-02, 2.73993183e-01, 7.08830471e-02, 2.41456214e-02,
 -1.09983297e-02, 2.11932668e-01, 3.27450732e-02, 1.11327117e-02,
 -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:
No contacts

qfrc_smooth:
[ 1.61414983e-03,-8.10678343e-03,-3.30322693e-03,-9.63641358e-04,
  3.75334488e-04,-4.71412419e-03,-1.66799435e-03,-4.76634161e-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,
  3.23133777e-01, 2.32878735e-02,-5.07829532e+00,-3.28990794e-03,
  2.71525609e-02, 2.85892333e-03]


--- Step 1915 ---
qpos:
[ 0.06154523, 0.53491736,-0.08320962,-0.02121534, 0.00700783, 0.58143093,
 -0.05001643,-0.0060012 ,-0.00300024, 0.70347859,-0.01566063,-0.02041372,
  1.38562302, 0.0188566 , 1.36211807, 0.02438314, 0.02654448,-0.05489629,
  0.11281863, 0.83108395,-0.00838476,-0.51274378,-0.21522773]

qacc:
[ 2.32228623e+01,-3.07728320e+01, 2.99143186e+01,-1.02263659e+02,
  2.90843466e+00,-2.42265512e+01, 3.89637358e+01,-7.51518976e+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,
  6.48402713e-01,-7.70080698e-03,-1.01523789e+01, 7.78169642e+00,
  3.56273065e+00,-9.76880977e+00]

qfrc_actuator:
[-6.30018865e-02, 2.70714624e-01, 6.95662847e-02, 2.36736804e-02,
 -1.08476943e-02, 2.10213023e-01, 3.21868531e-02, 1.09009545e-02,
 -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:
No contacts

qfrc_smooth:
[ 1.74418613e-03,-8.70961578e-03,-3.50172986e-03,-9.66508144e-04,
  2.65155180e-04,-4.84679474e-03,-1.80008396e-03,-5.09934580e-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,
  3.26824074e-01, 2.22893852e-02,-5.07144593e+00,-3.33454625e-03,
  2.74824881e-02, 2.89393686e-03]


--- Step 1916 ---
qpos:
[ 0.06028282, 0.54003221,-0.08189787,-0.02075805, 0.00679402, 0.58527616,
 -0.04947608,-0.00580314,-0.00299019, 0.70616278,-0.0156898 ,-0.0204199 ,
  1.38569043, 0.01885645, 1.36221092, 0.02438515, 0.0255307 ,-0.05468491,
  0.11189597, 0.8251901 ,-0.00767764,-0.5214495 ,-0.2170087 ]

qacc:
[ 2.47066937e+01,-2.77108440e+01, 1.59430237e+01,-8.22909692e+01,
  2.77809022e+00,-2.21505415e+01, 2.74515160e+01,-5.17586122e+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,
  6.55492204e-01,-1.00244461e-02,-1.01384758e+01, 7.82317561e+00,
  3.62512944e+00,-9.87502169e+00]

qfrc_actuator:
[-6.15565797e-02, 2.67600991e-01, 6.82558416e-02, 2.32272265e-02,
 -1.06725739e-02, 2.08466400e-01, 3.16022273e-02, 1.07015824e-02,
 -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:
No contacts

qfrc_smooth:
[ 1.89272663e-03,-8.92023195e-03,-3.64335214e-03,-9.73525268e-04,
  2.56335935e-04,-4.97512737e-03,-1.87071187e-03,-4.88326406e-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,
  3.30365916e-01, 2.13001299e-02,-5.06451611e+00,-3.37906270e-03,
  2.78003948e-02, 2.92591060e-03]


--- Step 1917 ---
qpos:
[ 0.05904858, 0.54508515,-0.08061421,-0.02030961, 0.00658459, 0.58908609,
 -0.0489483 ,-0.00560885,-0.00298023, 0.70883171,-0.01571934,-0.02042649,
  1.3857578 , 0.01885641, 1.36230353, 0.02438813, 0.02451529,-0.05446424,
  0.11094952, 0.8190994 ,-0.00697328,-0.53031306,-0.21862206]

qacc:
[ 2.50546308e+01,-2.16188915e+01,-4.42647166e+00,-5.81777546e+01,
  3.42714413e+00,-1.92870801e+01, 1.70441381e+01,-3.63831468e+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,
 -4.06958465e-01, 2.32550038e+00,-5.94437627e+00, 5.89361714e+01,
 -1.17399031e+02, 4.79054052e+01]

qfrc_actuator:
[-6.00943526e-02, 2.64700971e-01, 6.69252100e-02, 2.27995569e-02,
 -1.04308308e-02, 2.06842665e-01, 3.10247134e-02, 1.05229002e-02,
 -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([ 4.09546982,  0.30113368, -4.08438387,  0.30113368, 12.06776514,
        0.58778183, -4.08438387,  0.58778183,  4.13880583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.165999305383693e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.76676617e-13, -1.75335323e-12,  1.00000000e+00,  1.53712378e-24,
        1.00000000e+00,  1.75335323e-12, -1.00000000e+00,  0.00000000e+00,
        8.76676617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06704896, -0.08913281,  0.06199871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95687409e-03,-8.85137173e-03,-3.72365720e-03,-9.68583867e-04,
  3.20867316e-04,-4.93611754e-03,-1.89744692e-03,-4.75032679e-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,
  3.33757584e-01, 2.03206772e-02,-5.05750906e+00,-3.42342050e-03,
  2.81061471e-02, 2.95481057e-03]


--- Step 1918 ---
qpos:
[ 0.05784194, 0.55008079,-0.07935989,-0.01987023, 0.00637936, 0.59286649,
 -0.04843494,-0.00541936,-0.00297016, 0.71149073,-0.01575179,-0.02043311,
  1.38582502, 0.01885693, 1.36239597, 0.02439236, 0.0234994 ,-0.05423573,
  0.10997677, 0.81281427,-0.00626606,-0.539313  ,-0.22007994]

qacc:
[ 2.42117830e+01,-1.25964629e+01,-2.69490499e+01,-4.05862238e+01,
  3.24889888e+00,-8.58506769e+00,-5.82677178e+00,-3.22789508e+01,
  7.82019946e-02,-5.04428248e+00,-9.17667230e-01, 1.23974174e+01,
 -3.23451624e-01, 6.36475253e-01,-4.00494349e+00, 1.37589995e+01,
 -1.22724520e-01, 1.95747569e+00,-6.57754683e+00, 5.66315324e+01,
 -1.07642600e+02, 4.11928186e+01]

qfrc_actuator:
[-5.86869645e-02, 2.62326125e-01, 6.56479777e-02, 2.23866401e-02,
 -1.02223944e-02, 2.05874595e-01, 3.04923796e-02, 1.03224894e-02,
 -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([ 4.10025073, -0.22640507, -4.09399522, -0.22640507,  5.57321192,
       -0.08145732, -4.09399522, -0.08145732,  4.10475547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.528737623338969e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.22575331e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.22575331e-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([ 0.06692299, -0.08914232,  0.06199813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92729226e-03,-8.30153709e-03,-3.66467204e-03,-9.53352710e-04,
  3.08692448e-04,-4.26207891e-03,-1.84644371e-03,-4.95637244e-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,
  3.50477412e-01, 1.37698418e-02,-5.05771615e+00,-3.57697667e-03,
  2.84658251e-02, 2.64505226e-03]


--- Step 1919 ---
qpos:
[ 0.05666086, 0.55502144,-0.07813426,-0.0194395 , 0.00617798, 0.59662114,
 -0.04793475,-0.00523485,-0.00296018, 0.71414724,-0.0157887 ,-0.02044061,
  1.38589219, 0.01885771, 1.36248862, 0.02439533, 0.0224842 ,-0.05400079,
  0.10897539, 0.80633631,-0.00555034,-0.54843079,-0.22139244]

qacc:
[ 2.21403968e+01,-1.04879259e+01,-3.17126173e+01,-3.15280235e+01,
  2.95576462e+00,-7.56562690e+00,-1.37859407e+00,-4.49419920e+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,
  1.75990256e-01, 1.60788994e+00,-7.15585557e+00, 5.50194802e+01,
 -9.94205247e+01, 3.52008833e+01]

qfrc_actuator:
[-0.05741194, 0.25994925, 0.06436201, 0.02198633,-0.01003551, 0.205042  ,
  0.0300118 , 0.01011157,-0.00154551, 0.15590653, 0.00541394, 0.00095476,
  0.        ,-0.00133508, 0.        ,-0.0008163 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09803334, -0.40760648, -4.07771189, -0.40760648,  4.02734426,
        0.00706605, -4.07771189,  0.00706605,  4.09732703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.955860438127623e-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([ 0.0668163 , -0.08916394,  0.06199833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79475895e-03,-7.98097287e-03,-3.55100895e-03,-9.14668750e-04,
  2.84313802e-04,-3.73873944e-03,-1.64935058e-03,-4.75800874e-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,
  3.66681609e-01, 7.49255754e-03,-5.05665362e+00,-3.71446919e-03,
  2.88138935e-02, 2.33927225e-03]


--- Step 1920 ---
qpos:
[ 0.05550254, 0.55990355,-0.07693341,-0.01901805, 0.00598086, 0.60034814,
 -0.04744446,-0.00505516,-0.00295032, 0.71680159,-0.01582635,-0.02044808,
  1.38595953, 0.0188581 , 1.36258133, 0.02439711, 0.02147095,-0.05376075,
  0.10794329, 0.79966641,-0.00482055,-0.55765032,-0.22256799]

qacc:
[ 1.94710301e+01,-2.72593664e+01, 2.40010696e+01,-1.01878140e+02,
  3.25746091e+00,-1.87298977e+01, 3.41030212e+01,-8.13128351e+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,
  4.84966159e-01, 1.27568192e+00,-7.68092046e+00, 5.39599021e+01,
 -9.24806544e+01, 2.98267067e+01]

qfrc_actuator:
[-0.05629634, 0.25702366, 0.06313515, 0.02152578,-0.00980963, 0.20373063,
  0.02954903, 0.0098787 ,-0.00156   , 0.15601796, 0.00546738, 0.00097795,
  0.        ,-0.00136781, 0.        ,-0.0008763 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09236481, -0.53007562, -4.05788979, -0.53007562,  3.08936129,
        0.13102074, -4.05788979,  0.13102074,  4.07524978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7892866973866217e-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([ 0.06672564, -0.08919607,  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:
[ 1.60544227e-03,-8.32296660e-03,-3.40923592e-03,-9.56261487e-04,
  3.16431330e-04,-3.88216587e-03,-1.49798367e-03,-4.68016090e-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,
  3.82443663e-01, 1.48649988e-03,-5.05441710e+00,-3.83497663e-03,
  2.91520935e-02, 2.03456376e-03]


--- Step 1921 ---
qpos:
[ 0.05436423, 0.56472428,-0.07575638,-0.01860638, 0.00578843, 0.60404654,
 -0.04696448,-0.00487934,-0.00294081, 0.71945139,-0.01586244,-0.02045482,
  1.38602697, 0.01885816, 1.36267393, 0.02439848, 0.02046086,-0.05352095,
  0.10687073, 0.79289003,-0.00406008,-0.56679316,-0.22372848]

qacc:
[ 1.69248561e+01,-3.46555595e+01, 4.71504876e+01,-1.33514921e+02,
  3.55073278e+00,-1.69274736e+01, 2.18324067e+01,-5.12099330e+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,
  7.89762207e-01,-6.06074836e-02,-1.01134313e+01, 7.67434220e+00,
  4.35643787e+00,-1.41946924e+01]

qfrc_actuator:
[-0.05531933, 0.25391868, 0.06193355, 0.02103318,-0.00956231, 0.20233948,
  0.02904569, 0.00968775,-0.0015903 , 0.15575224, 0.00553271, 0.00101258,
  0.        ,-0.00138738, 0.        ,-0.00089455, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.41906238e-03,-8.66353356e-03,-3.43733199e-03,-9.98594233e-04,
  3.48982083e-04,-4.00934679e-03,-1.54873691e-03,-4.26747455e-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,
  3.97828347e-01,-4.25500637e-03,-5.05108629e+00,-3.93803060e-03,
  2.94815180e-02, 1.72833088e-03]


--- Step 1922 ---
qpos:
[ 0.05324491, 0.56947968,-0.07460245,-0.01820294, 0.00560025, 0.60771922,
 -0.04649706,-0.00470548,-0.00293161, 0.72209322,-0.01589583,-0.02046081,
  1.38609433, 0.0188582 , 1.36276655, 0.02439893, 0.01945395,-0.05328141,
  0.10575779, 0.78600811,-0.0032686 ,-0.57585803,-0.2248735 ]

qacc:
[ 1.58646539e+01,-3.85731578e+01, 4.69481680e+01,-1.04279988e+02,
  3.19367739e+00,-3.00241487e+00,-3.03656906e+01, 3.53752852e+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,
  7.96489228e-01,-6.26592992e-02,-1.00950267e+01, 7.74255399e+00,
  4.43600078e+00,-1.43046649e+01]

qfrc_actuator:
[-0.05436083, 0.25053703, 0.06073832, 0.02061433,-0.00935751, 0.20133853,
  0.02852237, 0.00961168,-0.00161209, 0.15519246, 0.00560315, 0.00103562,
  0.        ,-0.00138119, 0.        ,-0.00094131, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.35210944e-03,-9.13550813e-03,-3.50501092e-03,-9.40955362e-04,
  3.17871187e-04,-3.69770262e-03,-1.59929934e-03,-3.18160039e-04,
 -2.70248928e-05,-9.35483029e-04,-6.64793233e-05,-5.21311964e-06,
 -8.38595652e-06,-2.78105214e-06,-9.59390190e-06,-4.99536469e-05,
  4.01151844e-01,-5.00324163e-03,-5.04193471e+00,-3.93399441e-03,
  2.97555669e-02, 1.74538290e-03]


--- Step 1923 ---
qpos:
[ 0.052145  , 0.57416555,-0.07347109,-0.0178067 , 0.00541583, 0.6113692 ,
 -0.04604188,-0.00453412,-0.00292245, 0.72472356,-0.01592676,-0.02046574,
  1.38616173, 0.01885804, 1.36285909, 0.02439881, 0.01845025,-0.05304212,
  0.10460455, 0.77902162,-0.00244578,-0.58484369,-0.22600264]

qacc:
[ 1.60501697e+01,-4.35278243e+01, 5.23514392e+01,-9.01560649e+01,
  2.79690872e+00,-9.61667741e-01,-2.95581520e+01, 2.25306102e+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,
  8.02785402e-01,-6.46652640e-02,-1.00764577e+01, 7.81109713e+00,
  4.51694683e+00,-1.44153225e+01]

qfrc_actuator:
[-0.05334938, 0.24691137, 0.05955572, 0.02024208,-0.00917966, 0.20056251,
  0.02804669, 0.00951542,-0.0016109 , 0.15440823, 0.00563939, 0.00106914,
  0.        ,-0.00139524, 0.        ,-0.00096899, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.39024079e-03,-9.65221024e-03,-3.59500412e-03,-9.15541750e-04,
  2.81636185e-04,-3.30310765e-03,-1.48927413e-03,-3.24535144e-04,
 -3.59326910e-06,-1.39334850e-03,-1.88750792e-04,-1.34990102e-05,
 -5.19061136e-06,-1.66286999e-05,-1.18932444e-05,-3.21382628e-05,
  4.04263691e-01,-5.72640824e-03,-5.03270438e+00,-3.92907597e-03,
  3.00149049e-02, 1.75855919e-03]


--- Step 1924 ---
qpos:
[ 0.05106497, 0.57878295,-0.07236402,-0.01741861, 0.00523477, 0.61499591,
 -0.04559668,-0.00436551,-0.00291305, 0.72734057,-0.01595717,-0.02047063,
  1.3862292 , 0.01885747, 1.3629516 , 0.02439799, 0.01745131,-0.05279739,
  0.10342323, 0.77177812,-0.00162872,-0.59403059,-0.22689987]

qacc:
[ 1.62385639e+01,-3.93130099e+01, 4.32922288e+01,-9.53429581e+01,
  2.49142646e+00,-8.53011523e+00,-2.61619801e+00,-1.18221982e+01,
  1.50449615e-01,-1.89914107e+01, 4.19638698e+01,-3.22686479e+01,
  2.57614559e-01,-4.97759968e-01, 1.98489570e+00,-7.10997612e+00,
  1.18862763e+00, 1.35965317e+00,-7.02023221e+00, 8.80019328e+01,
 -1.54481046e+02, 6.27292191e+01]

qfrc_actuator:
[-0.0523142 , 0.24366671, 0.05840716, 0.0198468 ,-0.00901919, 0.19953816,
  0.02760432, 0.00939063,-0.00159607, 0.15360255, 0.00560103, 0.00105509,
  0.        ,-0.00142123, 0.        ,-0.00100296, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11763062, -0.31143905, -4.1058358 , -0.31143905, 10.74766683,
       -0.50290665, -4.1058358 , -0.50290665,  4.15577748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.64485332917092e-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([ 0.06404097, -0.09031739,  0.06199643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42990814e-03,-9.57485804e-03,-3.67671466e-03,-9.63064935e-04,
  2.53140772e-04,-3.30728467e-03,-1.36067762e-03,-3.32393881e-04,
  1.94173961e-05,-1.69597099e-03,-3.73147953e-04,-8.50539492e-05,
 -6.81136897e-06,-3.22131836e-05,-1.05624621e-05,-3.76336765e-05,
  4.07162044e-01,-6.42389073e-03,-5.02340024e+00,-3.92324395e-03,
  3.02594184e-02, 1.76783124e-03]


--- Step 1925 ---
qpos:
[ 5.00060079e-02, 5.83339969e-01,-7.12836004e-02,-1.70397534e-02,
  5.05726072e-03, 6.18596265e-01,-4.51596492e-02,-4.19993519e-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,
  1.64583239e-02,-5.25488181e-02, 1.02211481e-01, 7.64283869e-01,
 -8.08090613e-04,-6.03385642e-01,-2.27585766e-01]

qacc:
[ 1.70194371e+01,-2.43791957e+01, 1.00028439e+01,-8.27206259e+01,
  2.61737963e+00,-1.82234202e+01, 2.72673564e+01,-4.74471477e+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,
  1.48923796e+00, 9.60896061e-01,-7.60684944e+00, 8.30208816e+01,
 -1.39143878e+02, 5.19090126e+01]

qfrc_actuator:
[-0.05120199, 0.24135199, 0.05734303, 0.01944154,-0.00883475, 0.19814367,
  0.0271668 , 0.0092322 ,-0.00160883, 0.15280821, 0.00560762, 0.00103084,
  0.        ,-0.00145411, 0.        ,-0.00109361, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.15798617, -0.24198091, -4.15093895, -0.24198091,  3.0617308 ,
        0.06390672, -4.15093895,  0.06390672,  4.1542607 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001205916909138155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72621194e-13,  5.75403981e-14,  1.00000000e+00, -9.93269224e-27,
        1.00000000e+00, -5.75403981e-14, -1.00000000e+00,  0.00000000e+00,
        1.72621194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06383425, -0.09027912,  0.06199424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52397284e-03,-8.61790238e-03,-3.58693392e-03,-9.73278842e-04,
  2.68272903e-04,-3.65248141e-03,-1.34066376e-03,-3.61815460e-04,
  1.12814872e-06,-1.89447785e-03,-4.15725902e-04,-1.15957654e-04,
 -1.11454654e-05,-4.43699309e-05,-1.05500210e-05,-9.44549263e-05,
  4.30626824e-01,-1.62973924e-02,-5.02099758e+00,-4.11069932e-03,
  3.05531252e-02, 1.19176088e-03]


--- Step 1926 ---
qpos:
[ 4.89689977e-02, 5.87849626e-01,-7.02328522e-02,-1.66704343e-02,
  4.88353738e-03, 6.22166455e-01,-4.47299246e-02,-4.03865358e-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,
  1.54706381e-02,-5.22956166e-02, 1.00970942e-01, 7.56530483e-01,
 -4.11779284e-06,-6.12910524e-01,-2.28040165e-01]

qacc:
[  17.52444298,   0.44571199, -52.37460239, -30.13689084,   2.77215898,
  -28.23213932,  60.96666543,-101.44579193,  -0.14766763, -26.63876285,
   60.68265059, -42.76780604,   0.1903106 ,  -0.44746066,   2.07157796,
   -7.53793429,   1.32485129,   1.15760187,  -7.19721591,  82.70122898,
 -145.07657512,  63.93162183]

qfrc_actuator:
[-0.05005272, 0.24005836, 0.05627061, 0.01905238,-0.00863746, 0.19646849,
  0.02673438, 0.00900173,-0.00163801, 0.15193878, 0.00569413, 0.00105411,
  0.        ,-0.00147304, 0.        ,-0.00112817, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.22100966, -4.19479295,  0.46971762, -4.19479295,  4.50472227,
        2.53368325,  0.46971762,  2.53368325, 26.84795852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016681035402311972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.32780010e-13,  3.32780010e-13,  1.00000000e+00, -1.10742535e-25,
        1.00000000e+00, -3.32780010e-13, -1.00000000e+00,  0.00000000e+00,
        3.32780010e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06166667, -0.0913118 ,  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:
[ 1.59551447e-03,-7.04143210e-03,-3.38593521e-03,-9.13122508e-04,
  2.86733068e-04,-4.12215867e-03,-1.40494498e-03,-4.48432098e-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,
  4.52951869e-01,-2.55201511e-02,-5.01670215e+00,-4.26614650e-03,
  3.08288883e-02, 6.30506480e-04]


--- Step 1927 ---
qpos:
[ 4.79539096e-02, 5.92321654e-01,-6.92108191e-02,-1.63095522e-02,
  4.71328701e-03, 6.25707938e-01,-4.43097825e-02,-3.88156954e-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,
  1.44842553e-02,-5.20306019e-02, 9.97122429e-02, 7.48491838e-01,
  6.84871840e-04,-6.22664159e-01,-2.28142160e-01]

qacc:
[ 1.73172983e+01, 1.28263078e+01,-8.25428352e+01, 1.04906622e+01,
  2.52392117e+00,-1.97771332e+01, 3.31960221e+01,-6.94435486e+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,
  3.25748959e-01, 2.95330525e+00,-4.54009418e+00, 9.05881815e+01,
 -1.87073011e+02, 1.36015674e+02]

qfrc_actuator:
[-0.04892601, 0.23912223, 0.05520692, 0.01871238,-0.00846962, 0.19518957,
  0.02630742, 0.00880151,-0.00162352, 0.15087238, 0.00577373, 0.00103416,
  0.        ,-0.00148353, 0.        ,-0.00104061, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.31743211,  -3.91915328,  -1.81120336,  -3.91915328,
        11.08559541, -14.64521878,  -1.81120336, -14.64521878,
        36.0073343 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002178747868735037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54784650e-13, -7.64353949e-13,  1.00000000e+00,  1.94745653e-25,
        1.00000000e+00,  7.64353949e-13, -1.00000000e+00,  0.00000000e+00,
        2.54784650e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05471721, -0.09453078,  0.06198905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60144365e-03,-5.75665030e-03,-3.02400394e-03,-7.88188014e-04,
  2.64057901e-04,-4.00422249e-03,-1.50691726e-03,-4.42108817e-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,
  4.76203694e-01,-3.62281485e-02,-5.01137795e+00,-4.47713686e-03,
  3.10508503e-02, 3.97634512e-05]


--- Step 1928 ---
qpos:
[ 4.69604489e-02, 5.96756551e-01,-6.82118082e-02,-1.59562705e-02,
  4.54615821e-03, 6.29223135e-01,-4.38997759e-02,-3.72854030e-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,
  1.35014113e-02,-5.17568897e-02, 9.84312289e-02, 7.40172348e-01,
  1.28749657e-03,-6.32608063e-01,-2.27926032e-01]

qacc:
[ 1.69227210e+01,-5.63858510e-01,-3.72817940e+01,-2.99265729e+01,
  2.25174393e+00,-1.47540450e+01, 1.93159743e+01,-5.39696652e+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,
  8.84731220e-01, 2.17435782e+00,-5.57871926e+00, 8.85249026e+01,
 -1.68399371e+02, 1.13974875e+02]

qfrc_actuator:
[-0.0478216 , 0.23762869, 0.05421262, 0.0183691 ,-0.00832065, 0.19415902,
  0.02590669, 0.00862106,-0.00161862, 0.14955489, 0.00577687, 0.00100653,
  0.        ,-0.00147119, 0.        ,-0.00102385, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.6991847 , -0.01133995, -4.69917102, -0.01133995,  2.68107468,
        0.00487006, -4.69917102,  0.00487006,  4.69917295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034354953378450126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42371823e-13,  8.07906077e-14,  1.00000000e+00, -1.95813669e-26,
        1.00000000e+00, -8.07906077e-14, -1.00000000e+00,  0.00000000e+00,
        2.42371823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05444793, -0.09436703,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58735552e-03,-5.51414602e-03,-2.63957474e-03,-7.21359425e-04,
  2.38155134e-04,-3.70945165e-03,-1.46819051e-03,-4.20590534e-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,
  5.03454275e-01,-5.41845319e-02,-5.00622101e+00,-5.02189953e-03,
  3.10867079e-02,-6.71119701e-04]


--- Step 1929 ---
qpos:
[ 0.04598703, 0.60114968,-0.06723244,-0.01561041, 0.00438257, 0.63271177,
 -0.043499  ,-0.00357905,-0.00286611, 0.74015563,-0.01608582,-0.02049527,
  1.38656644, 0.01884985, 1.36341297, 0.02438855, 0.01251564,-0.05146356,
  0.09714764, 0.73151656, 0.00168248,-0.6428281 ,-0.22727237]

qacc:
[ 1.55414652e+01,-1.56625300e+01, 7.00734237e+00,-7.33486730e+01,
  2.53469087e+00,-1.65686566e+01, 2.30913605e+01,-5.00819081e+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,
 -7.31708891e-01, 4.90438759e+00,-6.43007834e-01, 9.32383276e+01,
 -2.31967851e+02, 1.89457839e+02]

qfrc_actuator:
[-0.04682781, 0.2354247 , 0.05319475, 0.01799087,-0.00813079, 0.19294925,
  0.02549058, 0.00845402,-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: -0.00046860813770483595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48074550e-13, -1.18459640e-13,  1.00000000e+00,  1.75408578e-26,
        1.00000000e+00,  1.18459640e-13, -1.00000000e+00,  0.00000000e+00,
        1.48074550e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04710199, -0.08942662,  0.06197523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47784162e-03,-6.00524455e-03,-2.56255469e-03,-7.31132736e-04,
  2.70846924e-04,-3.71377904e-03,-1.41670895e-03,-3.92708049e-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,
  5.29462063e-01,-7.07211512e-02,-4.99865737e+00,-5.48481107e-03,
  3.11217757e-02,-1.38229970e-03]


--- Step 1930 ---
qpos:
[ 0.0450317 , 0.60549395,-0.06627066,-0.01527122, 0.00422318, 0.63617299,
 -0.04310734,-0.00343278,-0.00285602, 0.74264406,-0.0161072 ,-0.02049944,
  1.38663355, 0.01884874, 1.36350493, 0.02438895, 0.0115303 ,-0.05115529,
  0.09585466, 0.72252624, 0.00191402,-0.65327952,-0.22622565]

qacc:
[ 1.38970893e+01,-2.90505716e+01, 3.80412713e+01,-8.94551507e+01,
  2.99417380e+00,-1.73784058e+01, 2.29702825e+01,-4.39248813e+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,
  1.08020269e-01, 3.73579779e+00,-2.34830758e+00, 9.31362382e+01,
 -2.10413248e+02, 1.58483901e+02]

qfrc_actuator:
[-0.04594295, 0.23263641, 0.0521863 , 0.01763004,-0.0079003 , 0.19162499,
  0.02505064, 0.00829611,-0.00158858, 0.14635609, 0.00570896, 0.00101337,
  0.        ,-0.00142955, 0.        ,-0.00093302, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.95126113, -0.55654138, -6.92894602, -0.55654138,  3.29930946,
        0.2933292 , -6.92894602,  0.2933292 ,  6.92770057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006627033859863199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.37647014e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.37647014e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04680664, -0.08918235,  0.0619641 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33893709e-03,-6.84675758e-03,-2.64448918e-03,-7.32081826e-04,
  3.23345737e-04,-3.81772276e-03,-1.43366395e-03,-3.81327573e-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,
  5.62828879e-01,-9.63429703e-02,-4.99114297e+00,-6.33030351e-03,
  3.09103742e-02,-2.23837077e-03]


--- Step 1931 ---
qpos:
[ 0.04409359, 0.60978462,-0.0653266 ,-0.01493928, 0.00406805, 0.6396052 ,
 -0.04272374,-0.00328955,-0.00284569, 0.74510168,-0.01612825,-0.02050371,
  1.38670041, 0.01884857, 1.36359705, 0.02438855, 0.01054877,-0.05083665,
  0.09454597, 0.71320419, 0.00202261,-0.66391895,-0.22482732]

qacc:
[ 1.31138514e+01,-3.61684829e+01, 5.67523485e+01,-1.14460147e+02,
  3.01993931e+00,-2.20475988e+01, 3.58753636e+01,-5.44418933e+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,
  9.52762226e-01, 2.58999918e+00,-3.92864478e+00, 9.20213000e+01,
 -1.89867181e+02, 1.29841198e+02]

qfrc_actuator:
[-0.04507627, 0.22971661, 0.05120709, 0.01724636,-0.00768302, 0.19019025,
  0.02465323, 0.00814479,-0.00159206, 0.14474167, 0.00569147, 0.00099914,
  0.        ,-0.00136652, 0.        ,-0.00097775, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.867322  , -1.33291395, -7.753586  , -1.33291395,  2.68838677,
        0.8903074 , -7.753586  ,  0.8903074 ,  7.71426983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007850440195658337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.41421754e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.41421754e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04655329, -0.0890026 ,  0.06195629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28037517e-03,-7.46356394e-03,-2.79821051e-03,-7.93607696e-04,
  3.29023803e-04,-3.98815498e-03,-1.41383538e-03,-3.79471827e-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,
  5.94999803e-01,-1.19987250e-01,-4.98053251e+00,-7.05369717e-03,
  3.07153095e-02,-3.10923698e-03]


--- Step 1932 ---
qpos:
[ 0.04317314, 0.61402824,-0.06440524,-0.01461487, 0.0039164 , 0.64300734,
 -0.04234773,-0.00314964,-0.00283589, 0.74752858,-0.01614847,-0.02050894,
  1.38676713, 0.01884938, 1.36368964, 0.02438395, 0.00957334,-0.05050933,
  0.09321957, 0.70355051, 0.00201155,-0.67472424,-0.22306912]

qacc:
[  13.31261456, -14.34067872,  -7.32764468, -52.27918061,   2.44876954,
  -25.29537267,  46.51788285, -69.63196308,  -0.29734397, -44.81691395,
  104.92885849,-100.15398118,  -1.08122366,   1.69162548,  13.57873691,
  -46.15897516,   1.52444969,   2.17279651,  -4.42667459,  95.78162963,
 -182.33373611, 130.94229315]

qfrc_actuator:
[-0.04415584, 0.2278606 , 0.05025256, 0.01690547,-0.00752866, 0.18871953,
  0.02428393, 0.00798079,-0.00165168, 0.14328778, 0.00576019, 0.00095687,
  0.        ,-0.00131144, 0.        ,-0.00119923, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.27695975, -2.00021901, -8.03163661, -2.00021901,  3.46602043,
        1.19812845, -8.03163661,  1.19812845,  7.97857482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008565396693497457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05053855e-14,  5.67075397e-14,  1.00000000e+00, -2.29696076e-27,
        1.00000000e+00, -5.67075397e-14, -1.00000000e+00,  0.00000000e+00,
        4.05053855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04458827, -0.09010368,  0.06195086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31900705e-03,-6.77674781e-03,-2.92103607e-03,-7.83551140e-04,
  2.68776998e-04,-4.11405662e-03,-1.41794587e-03,-3.98640652e-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,
  6.25709281e-01,-1.41440188e-01,-4.96688711e+00,-7.64591485e-03,
  3.05403844e-02,-3.98454400e-03]


--- Step 1933 ---
qpos:
[ 0.04227081, 0.61823777,-0.06351029,-0.01429837, 0.00376723, 0.64637949,
 -0.04198004,-0.00301289,-0.0028267 , 0.74992571,-0.01616808,-0.02051344,
  1.38683409, 0.01885019, 1.36378197, 0.02437839, 0.00860714,-0.05017775,
  0.09187011, 0.69356804, 0.00191838,-0.68565517,-0.22099023]

qacc:
[ 1.35361415e+01, 1.22196152e+01,-7.57687621e+01, 6.50409234e+00,
  1.73615333e+00,-2.28718257e+01, 3.74155836e+01,-5.68346708e+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,
  2.30749266e+00, 1.06348247e+00,-5.76400043e+00, 9.36566990e+01,
 -1.63980987e+02, 1.03968041e+02]

qfrc_actuator:
[-0.04321048, 0.22719035, 0.04932492, 0.01659346,-0.00743073, 0.18731092,
  0.02389875, 0.00782841,-0.00169105, 0.14194244, 0.00584454, 0.00100518,
  0.        ,-0.00133257, 0.        ,-0.00123898, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.45982877,  8.14263876, -2.29480647,  8.14263876, 12.18163093,
       13.20603326, -2.29480647, 13.20603326, 55.31866398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009004927278869271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.16453076e-14, -3.08226538e-14,  1.00000000e+00,  1.90007198e-27,
        1.00000000e+00,  3.08226538e-14, -1.00000000e+00,  0.00000000e+00,
        6.16453076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04437967, -0.08998657,  0.06194666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36107918e-03,-5.22999023e-03,-2.76632023e-03,-7.29177970e-04,
  1.91790084e-04,-4.12279974e-03,-1.46051651e-03,-3.92825618e-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,
  6.55673114e-01,-1.63459944e-01,-4.95054031e+00,-8.26253539e-03,
  3.03047673e-02,-4.91288435e-03]


--- Step 1934 ---
qpos:
[ 0.04138666, 0.62241831,-0.0626387 ,-0.01398953, 0.00362042, 0.64972001,
 -0.04162007,-0.00287934,-0.00281781, 0.75229308,-0.01618724,-0.02051741,
  1.38690137, 0.01885039, 1.36387375, 0.02437537, 0.00765316,-0.04984602,
  0.09049302, 0.68326005, 0.00177657,-0.69667457,-0.21862547]

qacc:
[ 1.34452700e+01, 1.09861704e+01,-6.26489186e+01,-1.08882372e+01,
  1.65389309e+00,-2.67981608e+01, 4.84551231e+01,-6.84228312e+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,
  3.05465331e+00, 3.82554012e-02,-6.90929165e+00, 9.12256889e+01,
 -1.47387250e+02, 7.99276006e+01]

qfrc_actuator:
[-0.04227547, 0.22636751, 0.04840845, 0.01626664,-0.00731379, 0.18572072,
  0.02350781, 0.00766642,-0.00170023, 0.14051379, 0.00588486, 0.00103554,
  0.        ,-0.00138107, 0.        ,-0.00110027, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.44352276,  6.41528346, -5.48973722,  6.41528346, 16.52382032,
        9.44260119, -5.48973722,  9.44260119, 19.47810617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008959033673416605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.74513654e-15,  2.32354096e-14,  1.00000000e+00, -1.79961420e-28,
        1.00000000e+00, -2.32354096e-14, -1.00000000e+00,  0.00000000e+00,
        7.74513654e-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([ 0.04420409, -0.08991997,  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:
[ 1.36976756e-03,-4.48203372e-03,-2.41412491e-03,-6.71214543e-04,
  1.84050423e-04,-4.31659169e-03,-1.47265875e-03,-4.04065633e-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,
  6.83943879e-01,-1.82925984e-01,-4.93128464e+00,-8.73133144e-03,
  3.00958872e-02,-5.83533749e-03]


--- Step 1935 ---
qpos:
[ 0.04052262, 0.62656674,-0.06178466,-0.01368654, 0.00347676, 0.65302679,
 -0.04126694,-0.00274871,-0.00280846, 0.75463222,-0.0162076 ,-0.02052217,
  1.38696855, 0.01885081, 1.36396569, 0.02437165, 0.00671424,-0.04951791,
  0.08908443, 0.6726303 , 0.00161602,-0.70774813,-0.2160057 ]

qacc:
[  14.77712582,  -5.52390108, -17.24832507, -32.29943616,   2.1811875 ,
  -31.39332386,  59.55984969, -74.23197071,   0.27719977, -35.6080358 ,
   76.21161471, -67.44811683,  -0.27738196,   0.39725656,   2.39296832,
   -7.94995429,   3.76529593,  -0.90591191,  -7.87405414,  88.64535053,
 -132.42690384,  58.52515991]

qfrc_actuator:
[-0.04119417, 0.22484034, 0.04757721, 0.01598711,-0.00713306, 0.1839997 ,
  0.02315163, 0.00751774,-0.00165586, 0.13922458, 0.00586319, 0.00100175,
  0.        ,-0.00135663, 0.        ,-0.00114163, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.255205  ,  -2.641131  ,  -7.82130658,  -2.641131  ,
        56.39154934, -16.25487886,  -7.82130658, -16.25487886,
        13.7442194 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008520772311357352
  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([ 0.04405822, -0.08989754,  0.06194568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52360887e-03,-4.69172035e-03,-2.12835621e-03,-5.78440993e-04,
  2.45435243e-04,-4.55749332e-03,-1.47931072e-03,-3.99605849e-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,
  7.10423270e-01,-1.99844658e-01,-4.90932766e+00,-9.05701901e-03,
  2.99150479e-02,-6.74735338e-03]


--- Step 1936 ---
qpos:
[ 3.96806070e-02, 6.30679019e-01,-6.09463150e-02,-1.33890735e-02,
  3.33765400e-03, 6.56302238e-01,-4.09222290e-02,-2.62051701e-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,
  5.78810300e-03,-4.91377601e-02, 8.77529165e-02, 6.61664251e-01,
  7.18005347e-04,-7.19111971e-01,-2.12315511e-01]

qacc:
[  16.05481712, -15.30279715,   8.47180324, -52.25260097,   3.13432972,
  -22.8733422 ,  31.82032862, -37.702186  ,   1.26991743, -31.5800865 ,
   61.25512542, -41.96440742,   1.17428307,  -1.97833317,   3.39034362,
  -12.05585043,   3.19493817,  13.01156879,  19.26935974, 162.41029871,
 -295.45543966, 584.91048956]

qfrc_actuator:
[-0.04001657, 0.22290527, 0.04674737, 0.01570171,-0.00686253, 0.18267652,
  0.02281853, 0.00741352,-0.00149123, 0.13799391, 0.00582355, 0.00100162,
  0.        ,-0.00146653, 0.        ,-0.00120003, 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: -0.0010055377021357531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.52054399e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.52054399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01929281, -0.08038691,  0.06193365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67560909e-03,-5.15262171e-03,-2.13117310e-03,-5.81454012e-04,
  3.57642118e-04,-4.29423450e-03,-1.50616516e-03,-3.65499823e-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,
  7.35037968e-01,-2.14251699e-01,-4.88489111e+00,-9.24628560e-03,
  2.97626705e-02,-7.64589339e-03]


--- Step 1937 ---
qpos:
[ 0.03886143, 0.63474972,-0.06012299,-0.01309791, 0.00320314, 0.65954921,
 -0.04058674,-0.00249503,-0.00278184, 0.75922864,-0.01625211,-0.02053083,
  1.38710478, 0.01884556, 1.36414951, 0.02436227, 0.00507354,-0.04873177,
  0.08664208, 0.6533482 ,-0.00158775,-0.72797029,-0.20782892]

qacc:
[ 1.65084281e+01,-2.59300802e+01, 3.93570585e+01,-9.40380897e+01,
  3.13430801e+00,-1.74371077e+01, 1.89945926e+01,-3.01601395e+01,
  2.15656608e+00,-3.26570928e+01, 5.85226937e+01,-1.59005929e+01,
  2.59777702e+00,-4.41469872e+00,-1.60779105e+00, 4.42494863e+00,
  5.28942185e+01, 6.45860984e+00, 5.51692607e+01,-4.46352198e+02,
  1.63273929e+03, 1.05007769e+03]

qfrc_actuator:
[-0.03882665, 0.22054707, 0.04588805, 0.01536154,-0.00662956, 0.18154987,
  0.02246809, 0.00730119,-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,  1.22669073, -8.54880148,  1.22669073,  5.81691577,
       -0.40457023, -8.54880148, -0.40457023,  8.57831076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003985468536907635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39283878e-14, -1.39283878e-14,  1.00000000e+00,  1.93999986e-28,
        1.00000000e+00,  1.39283878e-14, -1.00000000e+00,  0.00000000e+00,
        1.39283878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05281243, -0.05619086,  0.06175216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74364054e-03,-5.83268315e-03,-2.25565090e-03,-6.55986759e-04,
  3.61255602e-04,-3.95333235e-03,-1.47079589e-03,-3.62518939e-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,
  7.65242861e-01,-2.85976496e-01,-4.85694052e+00,-1.28763006e-02,
  2.74596604e-02,-9.44044552e-03]


--- Step 1938 ---
qpos:
[ 0.03806092, 0.63878079,-0.05931769,-0.01281298, 0.00307045, 0.66277125,
 -0.04026049,-0.00237247,-0.00276478, 0.76148627,-0.01627378,-0.02053247,
  1.38717314, 0.01884012, 1.36424103, 0.02436002, 0.00454353,-0.04830395,
  0.08572036, 0.64718674,-0.00504486,-0.73488346,-0.20265776]

qacc:
[ 1.33924027e+01,-1.48594882e+01, 3.20595699e+00,-5.29630458e+01,
  1.24306004e+00,-1.31147459e+01, 1.12739461e+01,-2.87213066e+01,
  1.13031295e+00,-3.33655523e+01, 5.87999516e+01,-4.71533746e+00,
  7.84623611e-01,-1.61568403e+00,-7.45674013e+00, 2.51607510e+01,
  4.61386965e+01, 5.45901382e+00, 4.72785635e+01,-3.27391390e+02,
  1.29955708e+03, 8.68148979e+02]

qfrc_actuator:
[-0.03797625, 0.21875375, 0.04505214, 0.01506251,-0.00661624, 0.18067509,
  0.02214691, 0.00718521,-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,  1.5000335 , -8.50509708,  1.5000335 , 27.38368108,
        3.3064413 , -8.50509708,  3.3064413 ,  9.21951662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006520333821377705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51354436e-15, -8.51354436e-15,  1.00000000e+00,  7.24804376e-29,
        1.00000000e+00,  8.51354436e-15, -1.00000000e+00,  0.00000000e+00,
        8.51354436e-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([-0.04783104, -0.05554197,  0.06161347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43181434e-03,-5.67521100e-03,-2.38987789e-03,-6.49569174e-04,
  1.43745147e-04,-3.50226065e-03,-1.36621300e-03,-3.50178677e-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,
  4.31889262e-01,-2.53727044e-01,-4.86371226e+00,-1.70178141e-02,
  2.45613805e-02,-3.29047100e-03]


--- Step 1939 ---
qpos:
[ 0.03727428, 0.64277938,-0.05853329,-0.01253235, 0.00293761, 0.66597215,
 -0.03994361,-0.00225254,-0.00274859, 0.76371672,-0.01629491,-0.02053343,
  1.3872412 , 0.01883403, 1.36433284, 0.02435654, 0.00416551,-0.0478582 ,
  0.08495905, 0.64285228,-0.00948797,-0.74019829,-0.19686903]

qacc:
[ 9.86183467e+00, 6.43721298e+00,-6.71885999e+01, 5.01136557e+01,
 -9.70071955e-02,-7.19581937e+00,-3.76927471e+00,-1.12238108e+01,
 -4.89137240e-01,-3.60152666e+01, 7.34114988e+01,-4.24661589e+01,
  2.43656505e-02,-4.94954993e-01, 4.14107198e+00,-1.39016427e+01,
  3.79962854e+01, 4.48203131e+00, 4.01022659e+01,-2.49495363e+02,
  1.08709973e+03, 7.51301319e+02]

qfrc_actuator:
[-0.03738779, 0.2177401 , 0.04423928, 0.01489712,-0.00668054, 0.18001254,
  0.02182926, 0.00708611,-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, -8.08837186,  3.027378  , -8.08837186,  9.05086449,
        1.10743918,  3.027378  ,  1.10743918, 11.59515501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008421185167859141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31836909e-14,  6.59184546e-15,  1.00000000e+00, -8.69048532e-29,
        1.00000000e+00, -6.59184546e-15, -1.00000000e+00,  0.00000000e+00,
        1.31836909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04440517, -0.05505127,  0.06151645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06753323e-03,-4.83304581e-03,-2.34981183e-03,-5.13535789e-04,
 -1.25544719e-05,-3.01465418e-03,-1.25577786e-03,-3.10034455e-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,
  2.33996486e-01,-2.12886404e-01,-4.87106532e+00,-1.82717548e-02,
  2.32837494e-02, 4.59563120e-04]


--- Step 1940 ---
qpos:
[ 0.03650193, 0.64674533,-0.05776568,-0.01225533, 0.00280512, 0.66915226,
 -0.03963486,-0.00213569,-0.00273259, 0.76591772,-0.01631577,-0.02053511,
  1.38730909, 0.01882732, 1.36442485, 0.02435093, 0.00391267,-0.04739768,
  0.08433095, 0.64005964,-0.01477505,-0.74418243,-0.19052   ]

qacc:
[ 1.00979793e+01,-3.66355795e+00,-3.43701931e+01, 2.29580449e+01,
  2.38151059e-01,-1.10663753e+01, 1.25851303e+01,-3.76068857e+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,
  3.12965278e+01, 3.68990396e+00, 3.33044705e+01,-1.87588712e+02,
  9.12632666e+02, 6.50538015e+02]

qfrc_actuator:
[-0.03663962, 0.21635084, 0.0435036 , 0.01474148,-0.00664815, 0.17912844,
  0.02148202, 0.00694475,-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, -8.03587487,  3.16409418, -8.03587487,  9.14140901,
        1.28266771,  3.16409418,  1.28266771, 11.8939649 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00979123939903187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.66947135e-15,  8.50420702e-15,  1.00000000e+00, -4.82143580e-29,
        1.00000000e+00, -8.50420702e-15, -1.00000000e+00,  0.00000000e+00,
        5.66947135e-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([-0.04205001, -0.05467564,  0.0614487 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10532751e-03,-4.72205841e-03,-2.08832691e-03,-4.63539068e-04,
  2.70812749e-05,-2.93811061e-03,-1.16926671e-03,-3.26721475e-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,
  1.14446949e-01,-1.67258652e-01,-4.87564475e+00,-1.78287939e-02,
  2.28389041e-02, 2.87263095e-03]


--- Step 1941 ---
qpos:
[ 0.03574634, 0.65067458,-0.05701199,-0.01198392, 0.00267477, 0.67231072,
 -0.03933343,-0.00202152,-0.00271502, 0.76808582,-0.01633467,-0.02053817,
  1.38737663, 0.01882073, 1.36451621, 0.02434905, 0.00376275,-0.04692501,
  0.08381079, 0.63855847,-0.02078227,-0.74704725,-0.1836616 ]

qacc:
[ 1.17492418e+01,-2.11792228e+01, 2.88231907e+01,-7.68078936e+01,
  1.43278655e+00,-1.36923949e+01, 1.86379158e+01,-3.74988077e+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,
  2.57305648e+01, 3.04156061e+00, 2.69832112e+01,-1.38017888e+02,
  7.66402478e+02, 5.62273113e+02]

qfrc_actuator:
[-0.03571283, 0.2143943 , 0.04276524, 0.01445068,-0.00648716, 0.17810178,
  0.02113731, 0.00681504,-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, -8.05563743,  3.11343581, -8.05563743,  9.13974808,
        1.30244619,  3.11343581,  1.30244619, 12.00628512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010716622988126312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03598216e-14,  5.17991081e-15,  1.00000000e+00, -5.36629519e-29,
        1.00000000e+00, -5.17991081e-15, -1.00000000e+00,  0.00000000e+00,
        1.03598216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04046896, -0.05438976,  0.0614025 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30027486e-03,-5.16982425e-03,-2.03350661e-03,-5.83786144e-04,
  1.70320508e-04,-3.01981183e-03,-1.14047737e-03,-3.09044927e-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,
  4.64282651e-02,-1.20034829e-01,-4.87665756e+00,-1.63216076e-02,
  2.28319519e-02, 4.43176064e-03]


--- Step 1942 ---
qpos:
[ 0.03500483, 0.65456416,-0.05627296,-0.01171854, 0.00254661, 0.67545039,
 -0.03903943,-0.00190994,-0.00269605, 0.77021869,-0.01635007,-0.02054069,
  1.38744393, 0.01881433, 1.36460701, 0.02435292, 0.00369712,-0.04644232,
  0.08337538, 0.63812746,-0.02740021,-0.74896365,-0.17634063]

qacc:
[ 9.81638184e+00,-2.38393055e+01, 3.43855819e+01,-8.61925915e+01,
  1.45331506e+00,-9.40542545e+00, 8.45028724e+00,-2.76219393e+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,
  2.10689158e+01, 2.50298505e+00, 2.11885866e+01,-9.81811573e+01,
  6.41664380e+02, 4.83950737e+02]

qfrc_actuator:
[-0.03505984, 0.21227428, 0.04197583, 0.01413551,-0.00637522, 0.17747807,
  0.02088531, 0.00671091,-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, -8.12830195,  2.91847293, -8.12830195,  9.05452643,
        1.16463422,  2.91847293,  1.16463422, 11.88001156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011270254875541216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85091319e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.85091319e-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([-0.03947045, -0.05417798,  0.06137276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09802370e-03,-5.57606119e-03,-2.17382030e-03,-6.27659537e-04,
  1.74549136e-04,-2.65490215e-03,-1.06012480e-03,-2.85553109e-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,
  1.21241947e-02,-7.34280654e-02,-4.87475902e+00,-1.41837049e-02,
  2.30170802e-02, 5.44535397e-03]


--- Step 1943 ---
qpos:
[ 0.03427434, 0.6584099 ,-0.05554735,-0.01145631, 0.00241851, 0.67857371,
 -0.03875229,-0.00180132,-0.00267731, 0.77231569,-0.01636271,-0.02054181,
  1.3875112 , 0.01880786, 1.36469832, 0.02435631, 0.00370003,-0.04595144,
  0.08300375, 0.63857024,-0.03453127,-0.75007286,-0.16860115]

qacc:
[ 7.62532660e+00,-2.68345819e+01, 2.49219473e+01,-2.57637872e+01,
  4.18554417e-02,-8.50797165e+00, 1.14578781e+01,-3.95879420e+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,
  1.71380927e+01, 2.04689631e+00, 1.59431235e+01,-6.61978753e+01,
  5.33790713e+02, 4.13806898e+02]

qfrc_actuator:
[-0.03457518, 0.20993181, 0.04125087, 0.01396813,-0.00643562, 0.17695992,
  0.02065647, 0.0065876 ,-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, -8.22311158,  2.63954784, -8.22311158,  8.92411071,
        0.89643244,  2.63954784,  0.89643244, 11.42906315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011514687245022082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82089961e-15,  2.41044980e-15,  1.00000000e+00, -1.16205365e-29,
        1.00000000e+00, -2.41044980e-15, -1.00000000e+00,  0.00000000e+00,
        4.82089961e-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([-0.03892498, -0.05403016,  0.06135594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61160105e-04,-6.05474049e-03,-2.21132564e-03,-5.02800388e-04,
  4.20481515e-06,-2.32687534e-03,-9.50549078e-04,-2.85790466e-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,
 -5.27460834e-04,-2.89984673e-02,-4.87105069e+00,-1.17171927e-02,
  2.32446072e-02, 6.11182242e-03]


--- Step 1944 ---
qpos:
[ 0.03355337, 0.662208  ,-0.05483431,-0.01119579, 0.00228995, 0.68167661,
 -0.03847002,-0.00169408,-0.00265965, 0.77437638,-0.0163751 ,-0.02054298,
  1.38757829, 0.01880183, 1.36478999, 0.02435793, 0.00375816,-0.04545395,
  0.08267712, 0.63971238,-0.04208798,-0.75049394,-0.16048527]

qacc:
[ 6.54848253e+00,-3.13210073e+01, 2.76022128e+01,-2.30975729e+00,
 -2.89969882e-01,-1.61815185e+01, 2.43445935e+01,-2.53535204e+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,
  1.38052466e+01, 1.65213213e+00, 1.12518984e+01,-4.06738206e+01,
  4.39627263e+02, 3.50660681e+02]

qfrc_actuator:
[-0.03412307, 0.20740489, 0.04056922, 0.01387122,-0.00647392, 0.17578231,
  0.02035517, 0.00650745,-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, -8.30988034,  2.3521619 , -8.30988034,  8.79295161,
        0.55320481,  2.3521619 ,  0.55320481, 10.59076389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011504153913843886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65062736e-15,  2.41265684e-15,  1.00000000e+00, -2.32836521e-29,
        1.00000000e+00, -2.41265684e-15, -1.00000000e+00,  0.00000000e+00,
        9.65062736e-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([-0.03874141, -0.05393928,  0.0613495 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46583555e-04,-6.50738968e-03,-2.26638924e-03,-4.51540006e-04,
 -3.72377898e-05,-2.77954614e-03,-9.41451483e-04,-2.24730829e-04,
 -9.60199517e-05,-4.65359577e-03,-1.09206313e-03,-2.44086984e-04,
 -3.48194572e-06, 3.14953078e-05, 1.11429217e-05,-9.28211336e-05,
  1.91936977e-04, 1.21568641e-02,-4.86662033e+00,-9.13399334e-03,
  2.34280775e-02, 6.55877753e-03]


--- Step 1945 ---
qpos:
[ 0.03284289, 0.66596548,-0.05413927,-0.01094262, 0.00216268, 0.6847562 ,
 -0.03819249,-0.00158838,-0.00264187, 0.77639941,-0.01638798,-0.0205455 ,
  1.38764528, 0.01879623, 1.36488145, 0.02436041, 0.00386017,-0.04495125,
  0.08237893, 0.6413994 ,-0.04999175,-0.75032889,-0.15203352]

qacc:
[ 7.16038420e+00,-1.85312716e+01, 1.91408281e+01,-8.75903814e+01,
  8.46234283e-01,-2.07379551e+01, 3.58181211e+01,-3.80039664e+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,
  1.09677786e+01, 1.30292632e+00, 7.10757616e+00,-2.05382835e+01,
  3.57029057e+02, 2.93742540e+02]

qfrc_actuator:
[-0.03355137, 0.20583605, 0.03982929, 0.01353237,-0.00635644, 0.17448594,
  0.02006441, 0.00641728,-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, -8.36832586,  2.13492367, -8.36832586,  8.68503912,
        0.19079479,  2.13492367,  0.19079479,  9.38422783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011286033679581794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83714081e-15, -2.45928520e-15,  1.00000000e+00,  2.41923348e-29,
        1.00000000e+00,  2.45928520e-15, -1.00000000e+00,  0.00000000e+00,
        9.83714081e-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([-0.0388531 , -0.05390018,  0.06135152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.26975554e-04,-5.80970091e-03,-2.42238999e-03,-7.13614355e-04,
  1.02791523e-04,-3.14607811e-03,-1.02084042e-03,-2.52562962e-04,
  8.29541783e-06,-4.85909326e-03,-1.18512472e-03,-3.23493565e-04,
  5.24080439e-06, 3.25336134e-05,-8.64156085e-06, 4.50412032e-05,
  8.56293424e-03, 4.92933432e-02,-4.86234759e+00,-6.58143927e-03,
  2.35231000e-02, 6.86747049e-03]


--- Step 1946 ---
qpos:
[ 0.03214568, 0.66969007,-0.05346382,-0.01069828, 0.00203693, 0.6878123 ,
 -0.03792051,-0.00148462,-0.00262318, 0.77838375,-0.016401  ,-0.02054925,
  1.3877125 , 0.01879023, 1.36497303, 0.02436177, 0.00399636,-0.0444446 ,
  0.0820947 , 0.64349522,-0.05817218,-0.74966616,-0.14328482]

qacc:
[   8.98164271,  -6.93020854,  -1.13307932, -96.11619702,   1.00407268,
  -19.46732635,  32.58131608, -40.04056026,   0.54887551, -53.2436385 ,
  120.82475498,-113.3015542 ,   0.31476976,  -0.51152118,   3.54955774,
  -12.23669541,   8.54596236,   0.98811913,   3.4930798 ,  -4.93344034,
  284.52531484, 242.55799138]

qfrc_actuator:
[-0.03278843, 0.20485409, 0.03910036, 0.01314344,-0.00627132, 0.17336014,
  0.01979953, 0.00632184,-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, -8.38943811,  2.05039143, -8.38943811,  8.59323761,
       -0.17645565,  2.05039143, -0.17645565,  7.91437285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01090189161758108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01837650e-14, -2.54594125e-15,  1.00000000e+00,  2.59272675e-29,
        1.00000000e+00,  2.54594125e-15, -1.00000000e+00,  0.00000000e+00,
        1.01837650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03920955, -0.05390871,  0.06136053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04976960e-03,-4.87450740e-03,-2.29496736e-03,-7.44202197e-04,
  1.23393324e-04,-3.19708485e-03,-1.08106203e-03,-2.76768684e-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,
  2.06569524e-02, 8.19521759e-02,-4.85884337e+00,-4.15879583e-03,
  2.35131431e-02, 7.08852394e-03]


--- Step 1947 ---
qpos:
[ 3.14611835e-02, 6.73381457e-01,-5.28037100e-02,-1.04592192e-02,
  1.91234507e-03, 6.90843506e-01,-3.76534388e-02,-1.38280742e-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,
  4.15845460e-03,-4.39351516e-02, 8.18120112e-02, 6.45880988e-01,
 -6.65665339e-02,-7.48583001e-01,-1.34276344e-01]

qacc:
[ 8.56696423e+00,-1.19220942e+01, 1.06697646e+00,-4.34406801e+01,
  7.60503376e-01,-2.31576351e+01, 4.30399982e+01,-5.04800248e+01,
  1.66395828e-01,-5.04584464e+01, 1.06237241e+02,-8.21923903e+01,
 -4.90530746e-01, 8.35786659e-01,-2.02410788e+00, 6.86823504e+00,
  6.47742105e+00, 7.00319246e-01, 3.83291860e-01, 6.85852460e+00,
  2.21078309e+02, 1.96782360e+02]

qfrc_actuator:
[-0.03214851, 0.2034339 , 0.03844008, 0.0129064 ,-0.00622412, 0.17211541,
  0.0195529 , 0.00622423,-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, -8.37034552,  2.12699148, -8.37034552,  8.48864564,
       -0.58131433,  2.12699148, -0.58131433,  6.34871845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010388223638556446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06873231e-14, -1.33591539e-14,  1.00000000e+00,  1.42773594e-28,
        1.00000000e+00,  1.33591539e-14, -1.00000000e+00,  0.00000000e+00,
        1.06873231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03977116, -0.05396127,  0.06137535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01084754e-03,-4.76357728e-03,-2.01798176e-03,-5.48329351e-04,
  9.34999387e-05,-3.35705983e-03,-1.08124731e-03,-2.83596975e-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,
  3.38314204e-02, 1.09915242e-01,-4.85645739e+00,-1.92858586e-03,
  2.33995864e-02, 7.25238138e-03]


--- Step 1948 ---
qpos:
[ 3.07900182e-02, 6.77037627e-01,-5.21574058e-02,-1.02252257e-02,
  1.79023567e-03, 6.93847627e-01,-3.73905853e-02,-1.28214394e-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,
  4.33940443e-03,-4.34239598e-02, 8.15203059e-02, 6.48454002e-01,
 -7.51193343e-02,-7.47147032e-01,-1.25043219e-01]

qacc:
[ 8.92024603e+00,-1.83911269e+01, 1.94251885e+01,-5.91908049e+01,
  1.60830341e+00,-2.63383848e+01, 4.68658148e+01,-4.02211045e+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,
  4.71282457e+00, 4.35050190e-01,-2.25352264e+00, 1.54612607e+01,
  1.65911929e+02, 1.56181985e+02]

qfrc_actuator:
[-0.03144513, 0.20167549, 0.03775357, 0.01265397,-0.0060579 , 0.1707036 ,
  0.01931879, 0.00616161,-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, -8.30967378,  2.35289152, -8.30967378,  8.3343779 ,
       -1.06651877,  2.35289152, -1.06651877,  4.86975434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009776999496629461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.67772876e-15, -5.67772876e-15,  1.00000000e+00,  3.22366039e-29,
        1.00000000e+00,  5.67772876e-15, -1.00000000e+00,  0.00000000e+00,
        5.67772876e-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([-0.0405058 , -0.05405455,  0.06139503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06275004e-03,-4.97286749e-03,-1.97977362e-03,-5.45441007e-04,
  2.01264851e-04,-3.61294742e-03,-1.10166755e-03,-2.55531759e-04,
 -4.71537617e-06,-5.09128814e-03,-1.27584874e-03,-2.59102848e-04,
  9.43906858e-06,-6.54353336e-06,-2.39482510e-06, 7.31869380e-05,
  4.63838602e-02, 1.33168683e-01,-4.85531896e+00, 7.50465494e-05,
  2.31945232e-02, 7.37642680e-03]


--- Step 1949 ---
qpos:
[ 3.01343559e-02, 6.80658409e-01,-5.15249999e-02,-9.99690461e-03,
  1.67260341e-03, 6.96825851e-01,-3.71340180e-02,-1.18314152e-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,
  4.53320417e-03,-4.29120082e-02, 8.12107835e-02, 6.51126698e-01,
 -8.37820561e-02,-7.45417348e-01,-1.15618195e-01]

qacc:
[ 10.31220995,-19.5989085 , 25.94930563,-75.89136957,  2.88223891,
 -20.05472892, 28.87003595,-28.5526107 ,  0.71101849,-50.90546958,
 106.05515175,-76.39002696,  1.02506633, -1.64609543, -1.65526505,
   5.4577166 ,  3.21247536,  0.1899279 , -4.45428058, 21.43106978,
 118.39300274,120.55778214]

qfrc_actuator:
[-0.03058511, 0.19999572, 0.03709143, 0.01237645,-0.00576879, 0.16952325,
  0.01904021, 0.00608446,-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, -8.20916773,  2.68259986, -8.20916773,  8.10273361,
       -1.63298988,  2.68259986, -1.63298988,  3.63916371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009096075537884628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22055168e-14, -9.15413757e-15,  1.00000000e+00,  1.11730980e-28,
        1.00000000e+00,  9.15413757e-15, -1.00000000e+00,  0.00000000e+00,
        1.22055168e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04138668, -0.05418531,  0.06141878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24103611e-03,-5.00183438e-03,-1.99322774e-03,-5.77990438e-04,
  3.65739170e-04,-3.52656078e-03,-1.20016300e-03,-2.81106766e-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,
  5.73024923e-02, 1.51868540e-01,-4.85539099e+00, 1.83969714e-03,
  2.29154908e-02, 7.46990189e-03]


--- Step 1950 ---
qpos:
[ 2.94962946e-02, 6.84243769e-01,-5.09059764e-02,-9.77491781e-03,
  1.56042642e-03, 6.99780641e-01,-3.68851006e-02,-1.08721394e-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,
  4.73477837e-03,-4.24002010e-02, 8.08762228e-02, 6.53825555e-01,
 -9.25127716e-02,-7.43445284e-01,-1.06031324e-01]

qacc:
[ 1.16373427e+01,-2.24388717e+01, 3.88068345e+01,-1.01011755e+02,
  3.49143316e+00,-1.59105307e+01, 2.47756646e+01,-4.85411328e+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,
  1.94361724e+00,-3.60825113e-02,-6.25955885e+00, 2.52708106e+01,
  7.79530665e+01, 8.97075047e+01]

qfrc_actuator:
[-0.02962085, 0.1983419 , 0.03646727, 0.01206876,-0.00546219, 0.16858017,
  0.0187387 , 0.00594631,-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,  -1.73189143,  -8.46092956,  -1.73189143,
        81.29206295, -14.8720991 ,  -8.46092956, -14.8720991 ,
        11.68057536,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.008369529268403612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98975890e-14, -3.31626484e-15,  1.00000000e+00,  6.59856748e-29,
        1.00000000e+00,  3.31626484e-15, -1.00000000e+00,  0.00000000e+00,
        1.98975890e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04239082, -0.05435037,  0.0614459 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41428139e-03,-4.99491609e-03,-1.96345765e-03,-6.10394404e-04,
  4.47202657e-04,-3.26138570e-03,-1.21790110e-03,-3.42246759e-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,
  6.60778372e-02, 1.66305908e-01,-4.85652529e+00, 3.36915584e-03,
  2.25816620e-02, 7.53729122e-03]


--- Step 1951 ---
qpos:
[ 2.88750867e-02, 6.87790437e-01,-5.02988954e-02,-9.55818491e-03,
  1.45417624e-03, 7.02710896e-01,-3.66418598e-02,-9.94150160e-04,
 -2.51824362e-03, 7.87719181e-01,-1.64781440e-02,-2.05708965e-02,
  1.38804826e+00, 1.87614679e-02, 1.36543031e+00, 2.43699309e-02,
  4.93986607e-03,-4.18893669e-02, 8.05108141e-02, 6.56489935e-01,
 -1.01275774e-01,-7.41275000e-01,-9.63096938e-02]

qacc:
[ 11.08197228,-28.53118047, 49.72226761,-93.16846995,  3.77887645,
 -22.42876872, 45.02720481,-67.50520178,  1.06886914,-49.21466068,
 105.08852125,-84.97109749, -0.60037202,  0.82191869, 12.32390854,
 -42.27272218,  0.87837268, -0.24329187, -7.71202749, 27.43559116,
  44.04097731, 63.4033191 ]

qfrc_actuator:
[-0.02877988, 0.19630952, 0.03583544, 0.01179914,-0.00514788, 0.16741456,
  0.01848056, 0.00580914,-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,  -4.72800473,  -7.22722271,  -4.72800473,
        24.25820881, -10.2197152 ,  -7.22722271, -10.2197152 ,
        15.32203858,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00761795219842764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09303294e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.09303294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04349815, -0.0545465 ,  0.06147583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35893348e-03,-5.36351460e-03,-1.96660506e-03,-5.71503036e-04,
  4.87284011e-04,-3.34097603e-03,-1.12369025e-03,-3.31637029e-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,
  7.25557173e-02, 1.76871615e-01,-4.85851190e+00, 4.67867189e-03,
  2.22112133e-02, 7.58059806e-03]


--- Step 1952 ---
qpos:
[ 2.82699039e-02, 6.91293529e-01,-4.97024541e-02,-9.34460060e-03,
  1.35427364e-03, 7.05617335e-01,-3.64045517e-02,-9.03991710e-04,
 -2.49305744e-03, 7.89471430e-01,-1.64938365e-02,-2.05766897e-02,
  1.38811570e+00, 1.87550313e-02, 1.36552183e+00, 2.43670756e-02,
  5.16121762e-03,-4.13796157e-02, 8.01378523e-02, 6.59367719e-01,
 -1.10124325e-01,-7.38675226e-01,-8.64045991e-02]

qacc:
[  10.48206606, -34.2653462 ,  51.94184433, -57.48863154,   4.02848533,
  -20.85332336,  40.95927437, -64.26917172,   0.47158157, -54.92012853,
  126.09947828,-112.06678951,   0.89009759,  -1.4158024 ,   0.58441798,
   -3.05380309,   4.06596428,  -0.27071799,  -1.88824747,  30.04455548,
  206.67169991, 123.96696674]

qfrc_actuator:
[-0.02798367, 0.19390767, 0.03522068, 0.01162485,-0.00481382, 0.16635668,
  0.0182318 , 0.00567358,-0.00092786, 0.11012649, 0.00614191, 0.00095471,
  0.        ,-0.00172601, 0.        ,-0.00109405, 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: -0.006903717710576789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.04076203e-15,  1.60815241e-14,  1.00000000e+00, -1.29307708e-28,
        1.00000000e+00, -1.60815241e-14, -1.00000000e+00,  0.00000000e+00,
        8.04076203e-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([-0.04158025, -0.04369447,  0.06150561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29649298e-03,-5.93655473e-03,-2.02407467e-03,-4.91192222e-04,
  5.23426684e-04,-3.25688803e-03,-1.11843020e-03,-3.29897570e-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,
  7.68211178e-02, 1.84021753e-01,-4.86111884e+00, 5.79093040e-03,
  2.18196573e-02, 7.60080062e-03]


--- Step 1953 ---
qpos:
[ 2.76782857e-02, 6.94750572e-01,-4.91171606e-02,-9.13421455e-03,
  1.26013375e-03, 7.08501767e-01,-3.61739120e-02,-8.16459332e-04,
 -2.46822009e-03, 7.91187340e-01,-1.65100222e-02,-2.05825248e-02,
  1.38818320e+00, 1.87480297e-02, 1.36561287e+00, 2.43664032e-02,
  5.43587985e-03,-4.09242243e-02, 7.98378733e-02, 6.63185018e-01,
 -1.17934743e-01,-7.35044469e-01,-7.73734941e-02]

qacc:
[ 8.82623387e+00,-3.62109755e+01, 5.43528807e+01,-5.81368539e+01,
  3.64076072e+00,-1.58418724e+01, 2.53747382e+01,-4.39934396e+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,
  1.33276705e+01,-1.35899413e+01, 1.82456777e+01, 2.66471247e+01,
  7.79889091e+02,-5.74244528e+02]

qfrc_actuator:
[-0.02736225, 0.19149978, 0.03461963, 0.01145448,-0.00454174, 0.16546129,
  0.01797342, 0.00555792,-0.00099482, 0.10842497, 0.00615573, 0.00096032,
  0.        ,-0.00175225, 0.        ,-0.0009749 , 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: -0.007776337615588533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.56923490e-15, -1.42769396e-14,  1.00000000e+00,  5.09577511e-29,
        1.00000000e+00,  1.42769396e-14, -1.00000000e+00,  0.00000000e+00,
        3.56923490e-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([-0.02955496, -0.00455441,  0.06145165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10094479e-03,-6.26979634e-03,-2.13234617e-03,-5.12094743e-04,
  4.76496886e-04,-3.04527333e-03,-1.10961020e-03,-3.06103411e-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,
  9.27404156e-02, 2.05638786e-01,-4.86382751e+00, 7.91418836e-03,
  2.12767112e-02, 7.73725190e-03]


--- Step 1954 ---
qpos:
[ 2.70979724e-02, 6.98160492e-01,-4.85432007e-02,-8.92888482e-03,
  1.17105765e-03, 7.11366646e-01,-3.59502402e-02,-7.30027681e-04,
 -2.44424608e-03, 7.92868363e-01,-1.65275255e-02,-2.05887809e-02,
  1.38825065e+00, 1.87407003e-02, 1.36570367e+00, 2.43681300e-02,
  5.75502169e-03,-4.05138567e-02, 7.95954491e-02, 6.67800735e-01,
 -1.24864161e-01,-7.30536769e-01,-6.90445327e-02]

qacc:
[ 7.31853320e+00,-4.09230284e+01, 7.69428163e+01,-1.11807465e+02,
  3.18501265e+00,-8.63449076e+00,-2.06347298e+00, 8.53190253e+00,
 -4.72200717e-01,-4.32829967e+01, 8.92221280e+01,-6.87939939e+01,
  3.68802225e-01,-5.98196393e-01,-7.68408094e+00, 2.62251514e+01,
  1.11199006e+01,-1.12559662e+01, 1.43886948e+01, 4.72338051e+01,
  6.59724314e+02,-4.74037701e+02]

qfrc_actuator:
[-0.02684965, 0.18914368, 0.03404932, 0.01119901,-0.00430878, 0.16475989,
  0.01773014, 0.0055261 ,-0.00106247, 0.10681051, 0.00613529, 0.00094828,
  0.        ,-0.00176485, 0.        ,-0.00085119, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.30081045,  6.81822451, -5.30081045,  8.29050013,
       -0.26889066,  6.81822451, -0.26889066,  8.42731531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008503035939262354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.26419597e-15, -1.63209798e-15,  1.00000000e+00,  5.32748765e-30,
        1.00000000e+00,  1.63209798e-15, -1.00000000e+00,  0.00000000e+00,
        3.26419597e-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([-0.02829189, -0.0056386 ,  0.06140762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.20394247e-04,-6.42582716e-03,-2.18378227e-03,-6.15472585e-04,
  4.19842915e-04,-2.72924471e-03,-1.04855277e-03,-2.12362724e-04,
 -7.87053730e-05,-4.52125430e-03,-1.15030619e-03,-2.59482339e-04,
 -1.69340864e-05,-3.00059693e-05, 4.21448385e-06, 1.27693517e-04,
  1.40983511e-01, 2.26491133e-01,-4.86950781e+00, 1.21450606e-02,
  2.16673702e-02, 8.34753959e-03]


--- Step 1955 ---
qpos:
[ 2.65281419e-02, 7.01521067e-01,-4.79797943e-02,-8.72881952e-03,
  1.08519178e-03, 7.14214859e-01,-3.57335249e-02,-6.44798337e-04,
 -2.42096546e-03, 7.94514539e-01,-1.65456413e-02,-2.05952437e-02,
  1.38831805e+00, 1.87331848e-02, 1.36579537e+00, 2.43639537e-02,
  6.11116659e-03,-4.01405038e-02, 7.93961664e-02, 6.73084989e-01,
 -1.31047579e-01,-7.25278206e-01,-6.12752252e-02]

qacc:
[ 6.75337408e+00,-4.64507382e+01, 9.32808932e+01,-1.31384068e+02,
  2.01070968e+00,-5.06571555e+00,-8.82617812e+00, 1.14016256e+01,
 -3.75265314e-01,-4.47589870e+01, 9.36573645e+01,-7.06792142e+01,
 -4.91489726e-01, 3.91081542e-01, 1.92790617e+01,-6.53515467e+01,
  9.25076732e+00,-9.25365425e+00, 1.07853974e+01, 6.04835320e+01,
  5.55615316e+02,-3.89416366e+02]

qfrc_actuator:
[-0.0263345 , 0.18662511, 0.03350211, 0.01093112,-0.00420742, 0.16423448,
  0.01749888, 0.00549085,-0.00109438, 0.1051371 , 0.00613082, 0.00094382,
  0.        ,-0.00176929, 0.        ,-0.00116965, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364e+00, -5.08362093e+00,  6.98165991e+00, -5.08362093e+00,
        8.64325392e+00,  5.01708340e-03,  6.98165991e+00,  5.01708340e-03,
        8.64001677e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00892425298206638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24405149e-14, -1.86607724e-14,  1.00000000e+00,  2.32149618e-28,
        1.00000000e+00,  1.86607724e-14, -1.00000000e+00,  0.00000000e+00,
        1.24405149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02749086, -0.00629829,  0.06138007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.56168418e-04,-6.68881127e-03,-2.20212164e-03,-6.38215528e-04,
  2.66726105e-04,-2.35911326e-03,-9.60168539e-04,-1.98253240e-04,
 -6.35117306e-05,-4.49320821e-03,-1.10295014e-03,-2.45658785e-04,
 -1.44829915e-05,-1.78472305e-05, 1.44898499e-05,-3.11194572e-04,
  1.89984998e-01, 2.35279145e-01,-4.87505337e+00, 1.51833649e-02,
  2.17649291e-02, 8.96879363e-03]


--- Step 1956 ---
qpos:
[ 2.59656466e-02, 7.04829091e-01,-4.74258306e-02,-8.53263743e-03,
  1.00001132e-03, 7.17045107e-01,-3.55215678e-02,-5.61792639e-04,
 -2.39845842e-03, 7.96126289e-01,-1.65642351e-02,-2.06018284e-02,
  1.38838523e+00, 1.87260889e-02, 1.36588721e+00, 2.43557031e-02,
  6.49879943e-03,-3.97999879e-02, 7.92301225e-02, 6.78932806e-01,
 -1.36550098e-01,-7.19367020e-01,-5.39945025e-02]

qacc:
[ 4.70923923e+00,-5.09295044e+01, 9.72918542e+01,-1.10940488e+02,
  4.32153860e-01,-1.50066048e+01, 2.84530514e+01,-4.61394077e+01,
 -4.19745191e-01,-4.44023805e+01, 9.28371169e+01,-6.89162076e+01,
 -7.75840666e-01, 1.00872236e+00, 1.26447964e+01,-4.36980372e+01,
  7.87198176e+00,-8.20927457e+00, 8.30968631e+00, 6.89048994e+01,
  4.76891503e+02,-3.51332084e+02]

qfrc_actuator:
[-0.02605231, 0.1838881 , 0.03299026, 0.01072903,-0.00425621, 0.16337578,
  0.01727761, 0.00538307,-0.00114017, 0.10349549, 0.00613575, 0.00094385,
  0.        ,-0.00173333, 0.        ,-0.00137327, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.64569699,  6.53550935, -5.64569699,  9.21018031,
        0.49569129,  6.53550935,  0.49569129,  9.06456635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009112382140648918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09183750e-15, -9.13775625e-15,  1.00000000e+00,  5.56657262e-29,
        1.00000000e+00,  9.13775625e-15, -1.00000000e+00,  0.00000000e+00,
        6.09183750e-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([-0.02566908, -0.00590334,  0.06136437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.00450701e-04,-7.05728299e-03,-2.22342358e-03,-5.84619636e-04,
  5.65933530e-05,-2.46586822e-03,-8.62056945e-04,-2.51529251e-04,
 -7.08125099e-05,-4.43438174e-03,-1.08112157e-03,-2.37991909e-04,
 -1.20856513e-05, 2.76233575e-05,-3.24448774e-05,-2.20098966e-04,
  2.37363791e-01, 2.36689080e-01,-4.88119997e+00, 1.73890163e-02,
  2.16868387e-02, 9.60878433e-03]


--- Step 1957 ---
qpos:
[ 2.54082188e-02, 7.08081321e-01,-4.68808444e-02,-8.34050171e-03,
  9.14731812e-04, 7.19853082e-01,-3.53121618e-02,-4.80428694e-04,
 -2.37665316e-03, 7.97704409e-01,-1.65835944e-02,-2.06091886e-02,
  1.38845227e+00, 1.87194145e-02, 1.36597858e+00, 2.43473806e-02,
  6.91238753e-03,-3.94858728e-02, 7.90849319e-02, 6.85235587e-01,
 -1.41481610e-01,-7.12893522e-01,-4.70953455e-02]

qacc:
[ 3.24551296e+00,-5.68310521e+01, 1.12819861e+02,-1.27676187e+02,
 -5.18682238e-02,-2.56449453e+01, 5.56873619e+01,-6.36937244e+01,
 -3.79427784e-01,-4.38941772e+01, 9.53052443e+01,-8.28119967e+01,
 -3.28477795e-01, 5.62404968e-01,-4.26178780e-01, 5.95883227e-01,
  6.48881890e+00,-6.60019227e+00, 5.21332326e+00, 7.24782738e+01,
  3.96006970e+02,-2.84241823e+02]

qfrc_actuator:
[-0.02585767, 0.18095422, 0.03248498, 0.01051388,-0.00428733, 0.16207655,
  0.01708068, 0.00528654,-0.00117619, 0.10190423, 0.00612868, 0.00091107,
  0.        ,-0.00170916, 0.        ,-0.00136543, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.19555014,  7.54878373, -4.19555014,  9.30044887,
        0.36909295,  7.54878373,  0.36909295,  8.84150238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009116848494375232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08885310e-15, -1.52221328e-15,  1.00000000e+00,  9.26853302e-30,
        1.00000000e+00,  1.52221328e-15, -1.00000000e+00,  0.00000000e+00,
        6.08885310e-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([-0.02547135, -0.00604199,  0.06135779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15516562e-04,-7.46039184e-03,-2.29296003e-03,-6.12993465e-04,
 -9.06089793e-06,-2.94740672e-03,-8.49235429e-04,-2.42435761e-04,
 -6.44024293e-05,-4.34534976e-03,-1.07770245e-03,-2.67316603e-04,
 -1.14070247e-06, 3.09885836e-05,-4.12779083e-05,-8.97041423e-06,
  2.81951109e-01, 2.32010451e-01,-4.88840368e+00, 1.89559472e-02,
  2.15531585e-02, 1.02752196e-02]


--- Step 1958 ---
qpos:
[ 2.48571336e-02, 7.11277548e-01,-4.63465662e-02,-8.15311831e-03,
  8.30020038e-04, 7.22635494e-01,-3.51050646e-02,-4.00201034e-04,
 -2.35525487e-03, 7.99249634e-01,-1.66044805e-02,-2.06166331e-02,
  1.38851925e+00, 1.87130809e-02, 1.36606971e+00, 2.43391484e-02,
  7.34718066e-03,-3.91925573e-02, 7.89494774e-02, 6.91894563e-01,
 -1.45937948e-01,-7.05935369e-01,-4.04880741e-02]

qacc:
[ 4.03461749e+00,-5.37453837e+01, 1.04381024e+02,-1.28507408e+02,
  3.62589390e-01,-2.96250161e+01, 6.14373218e+01,-5.86706870e+01,
 -2.14759926e-01,-3.93732873e+01, 7.76809852e+01,-5.25582797e+01,
 -2.21183401e-01, 4.21831719e-01,-6.02176648e-01, 1.65781731e+00,
  5.30125568e+00,-5.19988740e+00, 2.43403914e+00, 7.25492780e+01,
  3.24863584e+02,-2.26711218e+02]

qfrc_actuator:
[-0.02548546, 0.17817501, 0.03195145, 0.01027486,-0.00423632, 0.16063099,
  0.01689804, 0.00521481,-0.00118834, 0.10033841, 0.00607938, 0.00091257,
  0.        ,-0.00169225, 0.        ,-0.00135735, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.51722069,  7.88770787, -3.51722069,  9.34164779,
        0.31449441,  7.88770787,  0.31449441,  8.77660035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008944465227187517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30930187e-15, -1.39639528e-14,  1.00000000e+00,  1.29994652e-28,
        1.00000000e+00,  1.39639528e-14, -1.00000000e+00,  0.00000000e+00,
        9.30930187e-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([-0.02551901, -0.0059658 ,  0.06135992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.22217154e-04,-7.54472445e-03,-2.41325024e-03,-6.56930451e-04,
  4.67826361e-05,-3.35911732e-03,-9.32196515e-04,-2.37573981e-04,
 -3.78200066e-05,-4.26974958e-03,-1.10182319e-03,-2.29620909e-04,
  5.50616609e-06, 2.70118223e-05,-2.01027930e-05, 2.28373836e-06,
  3.22340473e-01, 2.25314579e-01,-4.89685067e+00, 2.01047804e-02,
  2.13485941e-02, 1.09364319e-02]


--- Step 1959 ---
qpos:
[ 2.43143456e-02, 7.14419715e-01,-4.58241036e-02,-7.96967904e-03,
  7.46296779e-04, 7.25390504e-01,-3.49007220e-02,-3.21288069e-04,
 -2.33377959e-03, 8.00762556e-01,-1.66263036e-02,-2.06227896e-02,
  1.38858621e+00, 1.87070219e-02, 1.36616042e+00, 2.43333860e-02,
  7.79908007e-03,-3.89151680e-02, 7.88139176e-02, 6.98820688e-01,
 -1.50002554e-01,-6.98560111e-01,-3.40976702e-02]

qacc:
[ 5.24423529e+00,-4.64484198e+01, 7.86576455e+01,-8.84186281e+01,
  6.20837788e-01,-3.11752022e+01, 6.41922650e+01,-6.24493739e+01,
  5.61475997e-02,-3.74109644e+01, 6.60387277e+01,-1.85657206e+01,
  5.70549864e-02, 9.88250323e-02,-8.11215545e+00, 2.74552379e+01,
  4.27656988e+00,-3.98156165e+00,-2.63437884e-02, 7.00232902e+01,
  2.62355703e+02,-1.77451334e+02]

qfrc_actuator:
[-0.02499224, 0.17568866, 0.0314418 , 0.01009485,-0.00417217, 0.15918086,
  0.01672475, 0.00514036,-0.00116845, 0.09883607, 0.00607683, 0.0009875 ,
  0.        ,-0.00167977, 0.        ,-0.001225  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.47811824,  8.27319206, -2.47811824,  8.97652866,
        0.10189165,  8.27319206,  0.10189165,  8.66688384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008631091046201987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43153350e-15, -6.43153350e-15,  1.00000000e+00,  4.13646232e-29,
        1.00000000e+00,  6.43153350e-15, -1.00000000e+00,  0.00000000e+00,
        6.43153350e-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([-0.02577267, -0.00571687,  0.06136919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85991678e-04,-7.32386931e-03,-2.42243546e-03,-6.06411076e-04,
  8.22596413e-05,-3.60990438e-03,-1.01760537e-03,-2.60642341e-04,
  5.95531593e-06,-4.16644223e-03,-1.04082493e-03,-1.52982693e-04,
  8.23934347e-06, 2.26250950e-05,-1.00045660e-05, 1.29697892e-04,
  3.57862463e-01, 2.18116433e-01,-4.90658988e+00, 2.09723201e-02,
  2.10953190e-02, 1.15720867e-02]


--- Step 1960 ---
qpos:
[ 2.37807984e-02, 7.17509505e-01,-4.53138685e-02,-7.78842825e-03,
  6.63815650e-04, 7.28116804e-01,-3.46996530e-02,-2.43776896e-04,
 -2.31200036e-03, 8.02243647e-01,-1.66480712e-02,-2.06278368e-02,
  1.38865333e+00, 1.87006968e-02, 1.36625104e+00, 2.43292237e-02,
  8.26453530e-03,-3.86494767e-02, 7.86696613e-02, 7.05934500e-01,
 -1.53747760e-01,-6.90826922e-01,-2.78616719e-02]

qacc:
[ 5.81008561e+00,-3.94806490e+01, 4.96196251e+01,-2.95499957e+01,
  7.74246498e-01,-3.16313579e+01, 6.36809051e+01,-6.16540353e+01,
  1.83152389e-01,-3.99277295e+01, 7.66686346e+01,-3.42145513e+01,
  4.28924519e-01,-5.67373362e-01,-5.04855559e+00, 1.73163928e+01,
  3.38895415e+00,-2.92448557e+00,-2.17410292e+00, 6.56481335e+01,
  2.07654490e+02,-1.35467216e+02]

qfrc_actuator:
[-0.02448417, 0.17329197, 0.03091636, 0.0100046 ,-0.00410079, 0.15770454,
  0.0165407 , 0.00506491,-0.0011474 , 0.09734888, 0.00612009, 0.00105191,
  0.        ,-0.00170553, 0.        ,-0.00114477, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.03720184,  8.57385498, -1.03720184,  7.95207543,
       -0.08278015,  8.57385498, -0.08278015,  8.6263495 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008208077924514966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.76299028e-15, -1.01444854e-14,  1.00000000e+00,  6.86070563e-29,
        1.00000000e+00,  1.01444854e-14, -1.00000000e+00,  0.00000000e+00,
        6.76299028e-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([-0.02620164, -0.00532751,  0.0613844 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.66649363e-04,-7.10868849e-03,-2.39132756e-03,-5.06399053e-04,
  1.03830699e-04,-3.79397019e-03,-1.09115146e-03,-2.75721277e-04,
  2.65537554e-05,-4.07675279e-03,-9.63209001e-04,-1.55431754e-04,
  9.25444976e-06,-1.66883377e-05, 9.01961146e-06, 8.60088544e-05,
  3.88173630e-01, 2.11370272e-01,-4.91752278e+00, 2.16536825e-02,
  2.08048947e-02, 1.21633314e-02]


--- Step 1961 ---
qpos:
[ 2.32577731e-02, 7.20546582e-01,-4.48152255e-02,-7.60946334e-03,
  5.82512211e-04, 7.30813057e-01,-3.45026047e-02,-1.67302730e-04,
 -2.29059481e-03, 8.03693536e-01,-1.66691202e-02,-2.06336316e-02,
  1.38872028e+00, 1.86948826e-02, 1.36634159e+00, 2.43267308e-02,
  8.65821912e-03,-3.84546465e-02, 7.86635594e-02, 7.11961778e-01,
 -1.56448164e-01,-6.84184333e-01,-2.29389835e-02]

qacc:
[ 6.58386168e+00,-4.18939940e+01, 5.79963562e+01,-4.03887437e+01,
  7.31968221e-01,-3.05657435e+01, 5.57721943e+01,-4.52493934e+01,
 -1.94342260e-01,-4.47762151e+01, 1.02985159e+02,-9.41633767e+01,
 -2.96992057e-01, 5.73284293e-01,-5.11116020e+00, 1.78351084e+01,
 -1.79428525e+01,-1.77152900e+01, 3.45385776e+01,-1.53201129e+02,
 -6.44787472e+02,-9.23471942e+02]

qfrc_actuator:
[-0.02390045, 0.17073823, 0.03036883, 0.00989701,-0.00404346, 0.15615376,
  0.0163163 , 0.00500724,-0.00119692, 0.09588322, 0.00619023, 0.00102089,
  0.        ,-0.00166504, 0.        ,-0.00106041, 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: -0.008232720009770732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.74274737e-15, -5.05706053e-15,  1.00000000e+00,  3.40984816e-29,
        1.00000000e+00,  5.05706053e-15, -1.00000000e+00,  0.00000000e+00,
        6.74274737e-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([ 0.03824034, -0.02377861,  0.06137638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75830561e-04,-7.13298379e-03,-2.36101148e-03,-5.11363453e-04,
  9.85998947e-05,-3.98617053e-03,-1.17873981e-03,-2.68607877e-04,
 -3.48715095e-05,-3.98826940e-03,-9.08053006e-04,-2.44317946e-04,
  9.63247843e-07, 3.72842345e-05, 1.20409263e-05, 8.99199184e-05,
  4.13192599e-01, 2.05625363e-01,-4.92945624e+00, 2.22138391e-02,
  2.04835202e-02, 1.26949071e-02]


--- Step 1962 ---
qpos:
[ 2.27473204e-02, 7.23531498e-01,-4.43279042e-02,-7.43512903e-03,
  5.03093513e-04, 7.33476874e-01,-3.43092849e-02,-9.19246323e-05,
 -2.26993503e-03, 8.05112724e-01,-1.66888214e-02,-2.06402552e-02,
  1.38878715e+00, 1.86895500e-02, 1.36643233e+00, 2.43239364e-02,
  8.98360185e-03,-3.83134223e-02, 7.87646992e-02, 7.16941509e-01,
 -1.58363389e-01,-6.78639259e-01,-1.90962128e-02]

qacc:
[ 7.82862367e+00,-4.67393515e+01, 8.62251792e+01,-1.10036339e+02,
  1.16143752e+00,-3.46539742e+01, 6.60216263e+01,-5.52385808e+01,
 -4.00708366e-01,-4.60389256e+01, 1.08789019e+02,-1.02742714e+02,
 -3.87859292e-01, 6.75344666e-01, 1.24708668e+00,-3.82867628e+00,
 -1.70752718e+01,-1.34014974e+01, 2.68104334e+01,-1.59286843e+02,
 -6.55603974e+02,-7.50930779e+02]

qfrc_actuator:
[-0.02318754, 0.16825356, 0.02984781, 0.00967348,-0.003924  , 0.15442912,
  0.0160875 , 0.00494266,-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,   7.9395331 ,   3.39861606,   7.9395331 ,
        17.82756606, -21.47163865,   3.39861606, -21.47163865,
        58.79642375,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00920226102829254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04850738e-15,  1.05950750e-06,  1.00000000e+00, -9.58696144e-21,
        1.00000000e+00, -1.05950750e-06, -1.00000000e+00,  0.00000000e+00,
        9.04850738e-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([ 0.04223038, -0.02551252,  0.06132446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05004307e-03,-7.06972186e-03,-2.33529593e-03,-6.27265755e-04,
  1.58741292e-04,-4.28424963e-03,-1.23300495e-03,-2.86557228e-04,
 -6.86962973e-05,-3.90534618e-03,-8.52594183e-04,-2.42875557e-04,
  9.43204034e-06, 3.82237008e-05, 1.30671159e-05,-1.43970422e-05,
  2.96763741e-01, 1.30385557e-01,-4.92852966e+00, 1.69685829e-02,
  2.34658097e-02, 1.12650303e-02]


--- Step 1963 ---
qpos:
[ 2.22500452e-02, 7.26466678e-01,-4.38525691e-02,-7.26488310e-03,
  4.26687514e-04, 7.36106470e-01,-3.41196111e-02,-1.84685715e-05,
 -2.24983343e-03, 8.06502004e-01,-1.67077071e-02,-2.06476881e-02,
  1.38885410e+00, 1.86843493e-02, 1.36652320e+00, 2.43202661e-02,
  9.24749722e-03,-3.82136840e-02, 7.89486654e-02, 7.20975173e-01,
 -1.59670436e-01,-6.74121227e-01,-1.61468859e-02]

qacc:
[ 8.16721019e+00,-4.05810789e+01, 6.66176449e+01,-8.17400707e+01,
  1.84277427e+00,-3.89377522e+01, 8.13641003e+01,-8.37022766e+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,
 -1.53718389e+01,-1.03714749e+01, 2.07066082e+01,-1.50259801e+02,
 -6.12652301e+02,-6.17012021e+02]

qfrc_actuator:
[-0.02249215, 0.16602616, 0.02934707, 0.00949016,-0.00373292, 0.15265006,
  0.01587512, 0.00483892,-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,   8.36647816,   2.14215312,   8.36647816,
        12.69737053, -15.86082953,   2.14215312, -15.86082953,
        70.58304833,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010051990215967546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.45150252e-15, -3.45150252e-15,  1.00000000e+00, -1.19128696e-29,
        1.00000000e+00,  3.45150252e-15, -1.00000000e+00,  0.00000000e+00,
       -3.45150252e-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([ 0.04478493, -0.02669784,  0.0612844 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10394986e-03,-6.77506115e-03,-2.30216559e-03,-5.85588169e-04,
  2.54983691e-04,-4.51620249e-03,-1.28505622e-03,-3.40647524e-04,
 -5.16935274e-05,-3.81965190e-03,-8.62583015e-04,-2.38492115e-04,
  1.32792612e-05, 1.41853691e-05, 1.50900412e-06,-4.62219306e-05,
  2.02698577e-01, 7.98206473e-02,-4.92426174e+00, 1.31725134e-02,
  2.56655343e-02, 9.98931677e-03]


--- Step 1964 ---
qpos:
[ 2.17655793e-02, 7.29352077e-01,-4.33881842e-02,-7.09835680e-03,
  3.53817485e-04, 7.38700623e-01,-3.39337054e-02, 5.32438375e-05,
 -2.22979810e-03, 8.07861702e-01,-1.67260297e-02,-2.06552046e-02,
  1.38892102e+00, 1.86794804e-02, 1.36661397e+00, 2.43167390e-02,
  9.45993878e-03,-3.81497489e-02, 7.91967185e-02, 7.24238599e-01,
 -1.60430587e-01,-6.70480990e-01,-1.39900354e-02]

qacc:
[ 7.90718601e+00,-4.27685372e+01, 7.27814556e+01,-8.31556723e+01,
  2.15331420e+00,-3.98445459e+01, 8.14994111e+01,-7.96558529e+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,
 -1.28634537e+01,-8.95079935e+00, 1.60217137e+01,-1.24371177e+02,
 -5.08378663e+02,-5.46321149e+02]

qfrc_actuator:
[-0.02184841, 0.163652  , 0.02884592, 0.00931452,-0.00353625, 0.15085311,
  0.01567402, 0.00474844,-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,  8.59366956,  0.85768311,  8.59366956,  9.33579503,
       -7.00804553,  0.85768311, -7.00804553, 78.85440402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010624950387445264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61230167e-15, -5.22460334e-15,  1.00000000e+00,  1.36482400e-29,
        1.00000000e+00,  5.22460334e-15, -1.00000000e+00,  0.00000000e+00,
        2.61230167e-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([ 0.04477546, -0.02589641,  0.06126137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07614434e-03,-6.74679033e-03,-2.23554630e-03,-5.63200608e-04,
  3.00170795e-04,-4.67570052e-03,-1.32957823e-03,-3.40091561e-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,
  1.32701308e-01, 4.67005476e-02,-4.91917049e+00, 1.05521984e-02,
  2.72103965e-02, 8.97710986e-03]


--- Step 1965 ---
qpos:
[ 2.12931441e-02, 7.32187428e-01,-4.29345368e-02,-6.93671738e-03,
  2.84300384e-04, 7.41257739e-01,-3.37515998e-02, 1.24117911e-04,
 -2.20995166e-03, 8.09192671e-01,-1.67453915e-02,-2.06620104e-02,
  1.38898793e+00, 1.86749015e-02, 1.36670452e+00, 2.43146787e-02,
  9.62920673e-03,-3.81156603e-02, 7.94940682e-02, 7.26866334e-01,
 -1.60726087e-01,-6.67589728e-01,-1.25065253e-02]

qacc:
[ 7.39724908e+00,-4.61144735e+01, 8.91250933e+01,-1.19847916e+02,
  2.03644985e+00,-3.99978302e+01, 7.51687405e+01,-5.64343390e+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,
 -1.07934034e+01,-7.46162623e+00, 1.23241484e+01,-1.03227044e+02,
 -4.27071242e+02,-4.64128906e+02]

qfrc_actuator:
[-0.02125831, 0.16120973, 0.02833055, 0.00907375,-0.00337348, 0.14895382,
  0.0154635 , 0.00470203,-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,   8.24258006,   2.57810995,   8.24258006,
        15.21324853, -21.02722589,   2.57810995, -21.02722589,
        75.86336185,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010976133700173807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52872062e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.52872062e-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([ 0.04454857, -0.02595148,  0.06125085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01344571e-03,-6.78273526e-03,-2.23430957e-03,-6.24251064e-04,
  2.85208997e-04,-4.87521638e-03,-1.37698330e-03,-3.04316050e-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,
  8.54056262e-02, 2.44259905e-02,-4.91490587e+00, 8.77670962e-03,
  2.82777382e-02, 8.27801705e-03]


--- Step 1966 ---
qpos:
[ 2.08307396e-02, 7.34973638e-01,-4.24917570e-02,-6.77910528e-03,
  2.17188040e-04, 7.43775676e-01,-3.35724694e-02, 1.93665448e-04,
 -2.19055346e-03, 8.10495974e-01,-1.67669020e-02,-2.06690922e-02,
  1.38905462e+00, 1.86712782e-02, 1.36679502e+00, 2.43135563e-02,
  9.76206392e-03,-3.81065854e-02, 7.98276101e-02, 7.28965590e-01,
 -1.60626243e-01,-6.65337436e-01,-1.15963578e-02]

qacc:
[ 6.14513127e+00,-4.27893398e+01, 7.53807731e+01,-9.16788470e+01,
  1.46179564e+00,-4.61277966e+01, 9.49874832e+01,-8.44593623e+01,
 -2.37955194e-01,-3.11196543e+01, 5.90871990e+01,-4.01237412e+01,
 -6.66489909e-01, 1.21301220e+00,-2.82289676e+00, 9.98319745e+00,
 -9.10268820e+00,-6.25341893e+00, 9.04806926e+00,-8.61728412e+01,
 -3.60081262e+02,-3.94991654e+02]

qfrc_actuator:
[-0.02081125, 0.15890654, 0.02784631, 0.00888532,-0.00328552, 0.14692014,
  0.01528438, 0.00462858,-0.00131621, 0.08892147, 0.00629262, 0.00098172,
  0.        ,-0.00154256, 0.        ,-0.00099271, 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: -0.011135561691503232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49251689e-15, -9.97006757e-15,  1.00000000e+00,  2.48505618e-29,
        1.00000000e+00,  9.97006757e-15, -1.00000000e+00,  0.00000000e+00,
        2.49251689e-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([ 0.04454656, -0.02591819,  0.06125032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.47050952e-04,-6.66443919e-03,-2.21190986e-03,-5.74464647e-04,
  2.04625940e-04,-5.12822358e-03,-1.39096683e-03,-3.40755100e-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,
  5.37184875e-02, 1.05236839e-02,-4.91171412e+00, 7.61794591e-03,
  2.89895731e-02, 7.79099726e-03]


--- Step 1967 ---
qpos:
[ 2.03771477e-02, 7.37710364e-01,-4.20586477e-02,-6.62444724e-03,
  1.51564050e-04, 7.46251740e-01,-3.33953141e-02, 2.61980290e-04,
 -2.17145030e-03, 8.11771496e-01,-1.67884875e-02,-2.06771007e-02,
  1.38912132e+00, 1.86681904e-02, 1.36688568e+00, 2.43116645e-02,
  9.86408124e-03,-3.81185792e-02, 8.01858666e-02, 7.30623007e-01,
 -1.60189967e-01,-6.63629656e-01,-1.11748107e-02]

qacc:
[ 5.38114030e+00,-4.43712311e+01, 7.58412376e+01,-7.52380479e+01,
  9.10501123e-01,-5.22805560e+01, 1.11368864e+02,-9.88469107e+01,
 -1.51511656e-01,-3.84081776e+01, 8.75916197e+01,-8.31084492e+01,
 -3.76006534e-01, 7.20997424e-01, 2.61900705e+00,-8.69247158e+00,
 -7.70996734e+00,-5.26718594e+00, 6.17861989e+00,-7.22538282e+01,
 -3.04259203e+02,-3.36308155e+02]

qfrc_actuator:
[-0.02039958, 0.1565284 , 0.02740293, 0.00874713,-0.00324285, 0.14471627,
  0.01514255, 0.00455748,-0.0013276 , 0.08761477, 0.00632337, 0.00094324,
  0.        ,-0.0015216 , 0.        ,-0.00103575, 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: -0.011139319364811232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.98335216e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.98335216e-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([ 0.04471577, -0.02581666,  0.06125749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.45988855e-04,-6.66484668e-03,-2.14148239e-03,-5.17267635e-04,
  1.26364130e-04,-5.44309718e-03,-1.40847759e-03,-3.50341273e-04,
 -2.78149726e-05,-3.57464387e-03,-8.55459645e-04,-2.33531147e-04,
  2.19526615e-05, 4.65237421e-05, 5.62864333e-06,-4.00857817e-05,
  3.27085193e-02, 2.30050008e-03,-4.90953706e+00, 6.87249969e-03,
  2.94617386e-02, 7.45129521e-03]


--- Step 1968 ---
qpos:
[ 1.99305533e-02, 7.40397009e-01,-4.16345783e-02,-6.47307737e-03,
  8.63218028e-05, 7.48683888e-01,-3.32206697e-02, 3.28780080e-04,
 -2.15279993e-03, 8.13019685e-01,-1.68095123e-02,-2.06856531e-02,
  1.38918833e+00, 1.86647369e-02, 1.36697609e+00, 2.43112865e-02,
  9.93988011e-03,-3.81484020e-02, 8.05588834e-02, 7.31909393e-01,
 -1.59467612e-01,-6.62385054e-01,-1.11696628e-02]

qacc:
[ 4.26085398e+00,-4.76035254e+01, 8.76360109e+01,-9.33944065e+01,
  2.47519190e-01,-5.40608607e+01, 1.14995613e+02,-1.05004669e+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,
 -6.55461256e+00,-4.45723266e+00, 3.69010243e+00,-6.07892322e+01,
 -2.57368448e+02,-2.86212373e+02]

qfrc_actuator:
[-0.0201007 , 0.15407202, 0.02696945, 0.00858638,-0.00326291, 0.14241089,
  0.01497002, 0.00447049,-0.00135965, 0.08633721, 0.00638601, 0.00092392,
  0.        ,-0.00156137, 0.        ,-0.00095384, 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: -0.011017781553930552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51916191e-15, -1.00766476e-14,  1.00000000e+00,  2.53847069e-29,
        1.00000000e+00,  1.00766476e-14, -1.00000000e+00,  0.00000000e+00,
        2.51916191e-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([ 0.04501631, -0.02566189,  0.06127059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93542275e-04,-6.72470166e-03,-2.12036381e-03,-5.36174779e-04,
  3.13826558e-05,-5.72339441e-03,-1.50624106e-03,-3.80433556e-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,
  1.90230170e-02,-2.09939620e-03,-4.90819861e+00, 6.40178136e-03,
  2.97721876e-02, 7.21504619e-03]


--- Step 1969 ---
qpos:
[ 1.94889922e-02, 7.43032948e-01,-4.12192495e-02,-6.32520956e-03,
  2.03669898e-05, 7.51071283e-01,-3.30492061e-02, 3.93741337e-04,
 -2.13500051e-03, 8.14241367e-01,-1.68303231e-02,-2.06934587e-02,
  1.38925541e+00, 1.86611797e-02, 1.36706641e+00, 2.43122110e-02,
  9.99331529e-03,-3.81933780e-02, 8.09381052e-02, 7.32883108e-01,
 -1.58502313e-01,-6.61533579e-01,-1.15191580e-02]

qacc:
[ 3.05899384e+00,-4.97007620e+01, 9.48228409e+01,-1.04307508e+02,
 -4.04698033e-01,-5.39639548e+01, 1.14408043e+02,-1.08326600e+02,
 -4.57564105e-01,-3.40843721e+01, 6.75659574e+01,-3.55422309e+01,
  2.38332725e-01,-2.92163517e-01,-4.11343522e+00, 1.41167394e+01,
 -5.59092435e+00,-3.78829788e+00, 1.55123905e+00,-5.12838311e+01,
 -2.17787991e+02,-2.43336357e+02]

qfrc_actuator:
[-0.01990671, 0.15157133, 0.02654517, 0.0084136 ,-0.00333783, 0.14015216,
  0.01479815, 0.00437473,-0.00142158, 0.08510555, 0.00643166, 0.00096933,
  0.        ,-0.00156588, 0.        ,-0.0008877 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.1696502 ,  8.55679235, -1.1696502 , 90.74661766,
       11.22386419,  8.55679235, 11.22386419, 10.17058282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01079658579399137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57077340e-15,  5.14154681e-15,  1.00000000e+00, -1.32177518e-29,
        1.00000000e+00, -5.14154681e-15, -1.00000000e+00,  0.00000000e+00,
        2.57077340e-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([ 0.04541768, -0.02546544,  0.06128828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27558410e-04,-6.79727829e-03,-2.12095476e-03,-5.50270519e-04,
 -6.29317952e-05,-5.85359693e-03,-1.57608309e-03,-4.05081049e-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,
  1.03532377e-02,-3.96502421e-03,-4.90749723e+00, 6.11052977e-03,
  2.99739726e-02, 7.05200881e-03]


--- Step 1970 ---
qpos:
[ 1.90534118e-02, 7.45617954e-01,-4.08126589e-02,-6.18064319e-03,
 -4.56868126e-05, 7.53413985e-01,-3.28815232e-02, 4.57687017e-04,
 -2.11842168e-03, 8.15437336e-01,-1.68516418e-02,-2.07000619e-02,
  1.38932252e+00, 1.86575906e-02, 1.36715686e+00, 2.43129174e-02,
  1.00276141e-02,-3.82512867e-02, 8.13162405e-02, 7.33592516e-01,
 -1.57331002e-01,-6.61015020e-01,-1.21704703e-02]

qacc:
[ 3.61844976e+00,-4.95977932e+01, 9.31706062e+01,-9.90164722e+01,
 -4.00587616e-02,-5.05201654e+01, 9.87667077e+01,-7.75196518e+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,
 -4.78408789e+00,-3.23319760e+00,-2.71634527e-01,-4.33689408e+01,
 -1.84312043e+02,-2.06646449e+02]

qfrc_actuator:
[-0.01956345, 0.14908247, 0.02612971, 0.00825289,-0.00332047, 0.13797534,
  0.01462835, 0.00432789,-0.00150085, 0.08389378, 0.00643174, 0.00103475,
  0.        ,-0.0015671 , 0.        ,-0.00090242, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.12967545,  8.04934211, -3.12967545, 61.68183491,
       20.6246805 ,  8.04934211, 20.6246805 , 16.6554732 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010497387967903851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.28809180e-15, -2.11523672e-14,  1.00000000e+00,  1.11855660e-28,
        1.00000000e+00,  2.11523672e-14, -1.00000000e+00,  0.00000000e+00,
        5.28809180e-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([ 0.04589604, -0.02523645,  0.06130947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.09641219e-04,-6.82510154e-03,-2.12703704e-03,-5.41475935e-04,
 -1.00416068e-05,-5.85860358e-03,-1.60987538e-03,-3.64530074e-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,
  5.09655595e-03,-4.19341398e-03,-4.90724749e+00, 5.93310934e-03,
  3.01034321e-02, 6.94104425e-03]


--- Step 1971 ---
qpos:
[ 1.86258333e-02, 7.48152812e-01,-4.04148758e-02,-6.03898776e-03,
 -1.10538718e-04, 7.55711808e-01,-3.27178258e-02, 5.20869989e-04,
 -2.10256296e-03, 8.16608267e-01,-1.68738927e-02,-2.07066167e-02,
  1.38938962e+00, 1.86540090e-02, 1.36724721e+00, 2.43144576e-02,
  1.00454839e-02,-3.83202791e-02, 8.16871255e-02, 7.34077815e-01,
 -1.55985201e-01,-6.60777824e-01,-1.30785032e-02]

qacc:
[ 4.81799694e+00,-4.75681624e+01, 8.57890598e+01,-8.53346348e+01,
  7.29378904e-01,-4.96762546e+01, 9.43304800e+01,-6.82386159e+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,
 -4.10727034e+00,-2.77092829e+00,-1.81256297e+00,-3.67630476e+01,
 -1.56015554e+02,-1.75332061e+02]

qfrc_actuator:
[-0.01908033, 0.14670998, 0.02574079, 0.00811837,-0.00321257, 0.13577673,
  0.01444392, 0.00429258,-0.0015188 , 0.08270376, 0.00640512, 0.00104042,
  0.        ,-0.00156638, 0.        ,-0.00085815, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.17772297,  7.55866441, -4.17772297, 43.38750775,
       19.20718333,  7.55866441, 19.20718333, 19.25229876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010138462651793467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47530263e-15, -1.09506053e-14,  1.00000000e+00,  5.99578778e-29,
        1.00000000e+00,  1.09506053e-14, -1.00000000e+00,  0.00000000e+00,
        5.47530263e-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([ 0.04643233, -0.02498235,  0.06133328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84185638e-04,-6.72358015e-03,-2.10609294e-03,-5.16397116e-04,
  1.02597311e-04,-5.88704475e-03,-1.62782583e-03,-3.53514807e-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,
  2.13706340e-03,-3.40588222e-03,-4.90729607e+00, 5.82450055e-03,
  3.01854935e-02, 6.86722560e-03]


--- Step 1972 ---
qpos:
[ 1.82073952e-02, 7.50638030e-01,-4.00254869e-02,-5.89955847e-03,
 -1.73647327e-04, 7.57963226e-01,-3.25573321e-02, 5.83195989e-04,
 -2.08679807e-03, 8.17754500e-01,-1.68962444e-02,-2.07125015e-02,
  1.38945680e+00, 1.86502103e-02, 1.36733778e+00, 2.43144999e-02,
  1.00491956e-02,-3.83988123e-02, 8.20455918e-02, 7.34372422e-01,
 -1.54491664e-01,-6.60778096e-01,-1.42049159e-02]

qacc:
[ 5.48259855e+00,-4.66474652e+01, 8.05844396e+01,-6.93081226e+01,
  1.04794469e+00,-5.40640944e+01, 1.07453212e+02,-8.31288211e+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,
 -3.53950161e+00,-2.38516614e+00,-3.10468422e+00,-3.12455517e+01,
 -1.32164663e+02,-1.48731691e+02]

qfrc_actuator:
[-0.01857098, 0.14435589, 0.02537137, 0.00801824,-0.00310485, 0.13342334,
  0.01427017, 0.00424657,-0.00149998, 0.08155416, 0.00643411, 0.00108192,
  0.        ,-0.00158227, 0.        ,-0.00093922, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.74228478,  7.21786062, -4.74228478, 33.00642841,
       16.01164019,  7.21786062, 16.01164019, 19.15634476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009735191217190235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85105603e-15, -5.70211206e-15,  1.00000000e+00,  1.62570410e-29,
        1.00000000e+00,  5.70211206e-15, -1.00000000e+00,  0.00000000e+00,
        2.85105603e-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([ 0.04701113, -0.02470926,  0.06135901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.83705165e-04,-6.64148823e-03,-2.06162393e-03,-4.76328387e-04,
  1.49761258e-04,-6.05957710e-03,-1.62436351e-03,-3.65737589e-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,
  6.99151298e-04,-2.02763823e-03,-4.90752485e+00, 5.75419508e-03,
  3.02371986e-02, 6.81993949e-03]


--- Step 1973 ---
qpos:
[ 1.77984960e-02, 7.53074481e-01,-3.96445385e-02,-5.76297511e-03,
 -2.34595067e-04, 7.60167765e-01,-3.23999437e-02, 6.44113498e-04,
 -2.07099371e-03, 8.18876453e-01,-1.69185180e-02,-2.07182931e-02,
  1.38952400e+00, 1.86462561e-02, 1.36742823e+00, 2.43145828e-02,
  1.00406509e-02,-3.84855978e-02, 8.23873404e-02, 7.34504055e-01,
 -1.52872932e-01,-6.60978723e-01,-1.55173023e-02]

qacc:
[ 5.70154661e+00,-4.66409028e+01, 8.48509904e+01,-8.48644023e+01,
  1.29080898e+00,-5.61014773e+01, 1.16134231e+02,-1.01164266e+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,
 -3.06411674e+00,-2.06309965e+00,-4.17940588e+00,-2.66392571e+01,
 -1.12157707e+02,-1.26284959e+02]

qfrc_actuator:
[-0.01806796, 0.14205014, 0.02499899, 0.00788598,-0.00298052, 0.13110308,
  0.01412139, 0.0041768 ,-0.00149494, 0.08040296, 0.00646051, 0.00109102,
  0.        ,-0.00159016, 0.        ,-0.00093372, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.03467367,  7.01703911, -5.03467367, 26.99663917,
       13.17336191,  7.01703911, 13.17336191, 18.08815338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009300467380269031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95296155e-15, -5.96864103e-15,  1.00000000e+00,  5.34370137e-29,
        1.00000000e+00,  5.96864103e-15, -1.00000000e+00,  0.00000000e+00,
        8.95296155e-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([ 0.0476198 , -0.02442235,  0.06138608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19939445e-04,-6.53482650e-03,-2.04018807e-03,-5.02522329e-04,
  1.86376201e-04,-6.12133089e-03,-1.63452960e-03,-3.96919143e-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,
  2.47311872e-04,-3.43736773e-04,-4.90784809e+00, 5.70194632e-03,
  3.02701016e-02, 6.79160808e-03]


--- Step 1974 ---
qpos:
[ 1.73988017e-02, 7.55462943e-01,-3.92717563e-02,-5.62857196e-03,
 -2.93309022e-04, 7.62326720e-01,-3.22462052e-02, 7.02818711e-04,
 -2.05537366e-03, 8.19974031e-01,-1.69398941e-02,-2.07247022e-02,
  1.38959094e+00, 1.86429489e-02, 1.36751849e+00, 2.43157181e-02,
  1.00214357e-02,-3.85795615e-02, 8.27088255e-02, 7.34495598e-01,
 -1.51147801e-01,-6.61348585e-01,-1.69884794e-02]

qacc:
[ 5.48455623e+00,-4.50146096e+01, 7.77303721e+01,-6.72284311e+01,
  1.32884143e+00,-5.45252158e+01, 1.16389373e+02,-1.15407561e+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,
 -2.66761287e+00,-1.79453698e+00,-5.06589843e+00,-2.27986863e+01,
 -9.54868922e+01,-1.07502451e+02]

qfrc_actuator:
[-0.01760832, 0.13979239, 0.024646  , 0.0077892 ,-0.00286508, 0.12896375,
  0.01398879, 0.00407591,-0.00151601, 0.07922478, 0.00652071, 0.00106324,
  0.        ,-0.00153996, 0.        ,-0.00087722, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.14752041,  6.93468172, -5.14752041, 23.47770094,
       11.01652387,  6.93468172, 11.01652387, 16.81378025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00884504055298728
  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([ 0.0482479 , -0.02412596,  0.061414  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.93022914e-04,-6.42238699e-03,-1.99647361e-03,-4.62125497e-04,
  1.93151282e-04,-5.97695284e-03,-1.63295743e-03,-4.31546245e-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,
  4.16108827e-04, 1.46076412e-03,-4.90820708e+00, 5.65474864e-03,
  3.02919307e-02, 6.77681006e-03]


--- Step 1975 ---
qpos:
[ 1.70068097e-02, 7.57803820e-01,-3.89071893e-02,-5.49617964e-03,
 -3.50033276e-04, 7.64441086e-01,-3.20959919e-02, 7.59983044e-04,
 -2.04001536e-03, 8.21047492e-01,-1.69610142e-02,-2.07300364e-02,
  1.38965792e+00, 1.86397258e-02, 1.36760886e+00, 2.43161648e-02,
  9.99286523e-03,-3.86798101e-02, 8.30071472e-02, 7.34365808e-01,
 -1.49331759e-01,-6.61861829e-01,-1.85958552e-02]

qacc:
[ 4.57744299e+00,-4.39953989e+01, 7.41584247e+01,-6.09411218e+01,
  1.18214559e+00,-5.21810386e+01, 1.07102202e+02,-9.54273346e+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,
 -2.33881761e+00,-1.57123544e+00,-5.79081490e+00,-1.96022536e+01,
 -8.17137280e+01,-9.19474377e+01]

qfrc_actuator:
[-0.01726694, 0.13751114, 0.02427225, 0.00769643,-0.00277368, 0.12687942,
  0.01386768, 0.00401098,-0.00153479, 0.07805795, 0.00654709, 0.00112051,
  0.        ,-0.00154441, 0.        ,-0.00091542, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.11418925,  6.95929919, -5.11418925, 21.55537519,
        9.49381082,  6.95929919,  9.49381082, 15.61309274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008377810917507111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.62597327e-15, -6.62597327e-15,  1.00000000e+00,  4.39035218e-29,
        1.00000000e+00,  6.62597327e-15, -1.00000000e+00,  0.00000000e+00,
        6.62597327e-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([ 0.04888675, -0.02382381,  0.06144237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64853565e-04,-6.37076280e-03,-1.98667700e-03,-4.50887469e-04,
  1.72259668e-04,-5.84100221e-03,-1.59217288e-03,-3.89931098e-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,
  9.60463897e-04, 3.27158355e-03,-4.90856424e+00, 5.60466072e-03,
  3.03077547e-02, 6.77166553e-03]


--- Step 1976 ---
qpos:
[ 1.66214629e-02, 7.60097173e-01,-3.85507364e-02,-5.36707743e-03,
 -4.04839673e-04, 7.66511039e-01,-3.19489820e-02, 8.15452628e-04,
 -2.02455325e-03, 8.22098347e-01,-1.69841467e-02,-2.07354050e-02,
  1.38972496e+00, 1.86365197e-02, 1.36769934e+00, 2.43151476e-02,
  9.95562664e-03,-3.87856198e-02, 8.32809702e-02, 7.34123757e-01,
 -1.47437067e-01,-6.62504064e-01,-2.03220279e-02]

qacc:
[ 3.93929204e+00,-4.68297848e+01, 8.97791032e+01,-9.89099929e+01,
  1.13729011e+00,-5.31638250e+01, 1.11592975e+02,-1.03225557e+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,
 -2.16703353e+00,-1.39027261e+00,-6.12470767e+00,-1.76174509e+01,
 -7.49123756e+01,-8.03231325e+01]

qfrc_actuator:
[-0.0169632 , 0.13519909, 0.02388934, 0.00753577,-0.00267958, 0.12473883,
  0.01373704, 0.00393232,-0.00151654, 0.0769962 , 0.0064647 , 0.00112086,
  0.        ,-0.00154584, 0.        ,-0.00099136, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.22426195,  8.3450246 , -2.22426195, 30.85002323,
        5.92077317,  8.3450246 ,  5.92077317, 10.21447168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007910019375274843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38614217e-15, -1.14039696e-14,  1.00000000e+00, -5.00194321e-29,
        1.00000000e+00,  1.14039696e-14, -1.00000000e+00,  0.00000000e+00,
       -4.38614217e-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([ 0.0489579 , -0.02463289,  0.06147067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74669364e-04,-6.36870792e-03,-1.98299508e-03,-5.15904519e-04,
  1.66320066e-04,-5.80972148e-03,-1.56668405e-03,-3.95511778e-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,
  1.72002878e-03, 5.02382883e-03,-4.90889767e+00, 5.54722794e-03,
  3.03208072e-02, 6.77340003e-03]


--- Step 1977 ---
qpos:
[ 1.62426514e-02, 7.62343647e-01,-3.82022099e-02,-5.24109670e-03,
 -4.57748392e-04, 7.68537113e-01,-3.18053195e-02, 8.68720388e-04,
 -2.00896789e-03, 8.23126366e-01,-1.70080784e-02,-2.07408153e-02,
  1.38979185e+00, 1.86338260e-02, 1.36778962e+00, 2.43145622e-02,
  9.91064556e-03,-3.88963836e-02, 8.35282770e-02, 7.33782350e-01,
 -1.45473739e-01,-6.63257228e-01,-2.21518484e-02]

qacc:
[ 3.86266540e+00,-4.61539874e+01, 8.78971514e+01,-9.48817110e+01,
  1.12221933e+00,-5.30984190e+01, 1.14526845e+02,-1.15097569e+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,
 -1.93562475e+00,-1.23852427e+00,-6.62905396e+00,-1.53367130e+01,
 -6.52919344e+01,-6.99686727e+01]

qfrc_actuator:
[-0.0166308 , 0.13297629, 0.02353964, 0.0073897 ,-0.0025846 , 0.12263538,
  0.01360177, 0.00382845,-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, -4.53612889,  7.3491708 , -4.53612889, 22.43215518,
        8.51517679,  7.3491708 ,  8.51517679, 13.89218643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0074467124643018134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31806342e-16, -7.45445074e-15,  1.00000000e+00, -6.94610448e-30,
        1.00000000e+00,  7.45445074e-15, -1.00000000e+00,  0.00000000e+00,
       -9.31806342e-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([ 0.04957967, -0.02435302,  0.06149868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66381627e-04,-6.27885020e-03,-1.95060243e-03,-5.02239235e-04,
  1.64887164e-04,-5.74873310e-03,-1.56144016e-03,-4.18520577e-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,
  2.64642337e-03, 6.75922549e-03,-4.90920675e+00, 5.48551167e-03,
  3.03317176e-02, 6.77960553e-03]


--- Step 1978 ---
qpos:
[ 1.58700918e-02, 7.64544041e-01,-3.78618084e-02,-5.11837572e-03,
 -5.09174875e-04, 7.70520738e-01,-3.16652814e-02, 9.20777446e-04,
 -1.99391649e-03, 8.24131407e-01,-1.70309481e-02,-2.07456094e-02,
  1.38985892e+00, 1.86308453e-02, 1.36787959e+00, 2.43159480e-02,
  9.85866932e-03,-3.90116044e-02, 8.37474604e-02, 7.33351784e-01,
 -1.43449585e-01,-6.64106814e-01,-2.40731686e-02]

qacc:
[  3.68473589,-44.83445788, 85.30247066,-94.94314983,  0.87737341,
 -48.40247688, 96.33492512,-80.35194236, -0.28117611,-32.0577023 ,
  67.65656441,-41.83524185,  0.50095841, -0.65056929, -6.49378169,
  21.89712938, -1.74878807, -1.1142555 , -7.03081734,-13.44502098,
 -57.61469043,-61.74287855]

qfrc_actuator:
[-0.01631927, 0.1307899 , 0.02317741, 0.00723578,-0.00252534, 0.12067798,
  0.01348291, 0.00378165,-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, -3.93977638,  7.68537175, -3.93977638, 24.2904451 ,
        8.02480119,  7.68537175,  8.02480119, 12.7501428 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006988448919813234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93618110e-15, -4.96454505e-15,  1.00000000e+00, -4.43640737e-29,
        1.00000000e+00,  4.96454505e-15, -1.00000000e+00,  0.00000000e+00,
       -8.93618110e-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([ 0.0501955 , -0.02407468,  0.06152638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.42955741e-04,-6.18349098e-03,-1.93956738e-03,-5.04739667e-04,
  1.28761700e-04,-5.56719355e-03,-1.53213506e-03,-3.59016075e-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,
  3.63772677e-03, 8.39359823e-03,-4.90947852e+00, 5.41374758e-03,
  3.03430118e-02, 6.78957859e-03]


--- Step 1979 ---
qpos:
[ 1.55034977e-02, 7.66697893e-01,-3.75284918e-02,-4.99890382e-03,
 -5.59341587e-04, 7.72463238e-01,-3.15292116e-02, 9.71989627e-04,
 -1.97970806e-03, 8.25114619e-01,-1.70532815e-02,-2.07503881e-02,
  1.38992633e+00, 1.86268546e-02, 1.36796950e+00, 2.43185575e-02,
  9.80029310e-03,-3.91308786e-02, 8.39372553e-02, 7.32839945e-01,
 -1.41370506e-01,-6.65041363e-01,-2.60764312e-02]

qacc:
[   3.5078325 , -48.32178794,  96.81097594,-107.59952666,   0.74549334,
  -44.94494076,  84.99738607, -63.10033811,  -0.45009214, -30.31043078,
   66.16097023, -50.73666903,   0.97275805,  -1.53752013,  -3.93016573,
   13.305745  ,  -1.59999498,  -1.01334299,  -7.34715106, -11.87582577,
  -51.60273071, -55.35723634]

qfrc_actuator:
[-0.01602258, 0.12851904, 0.02284654, 0.00707855,-0.00247011, 0.11877106,
  0.01334   , 0.00375122,-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, -2.91699979,  8.12883073, -2.91699979, 28.32424727,
        7.06492169,  8.12883073,  7.06492169, 11.17158374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006539137965441796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.48906255e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.48906255e-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([ 0.0508013 , -0.02379972,  0.06155357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19085691e-04,-6.21105795e-03,-1.88670887e-03,-5.03534507e-04,
  1.09469929e-04,-5.40534176e-03,-1.51257479e-03,-3.32601525e-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,
  4.65583764e-03, 9.93144256e-03,-4.90971291e+00, 5.33217699e-03,
  3.03553111e-02, 6.80223483e-03]


--- Step 1980 ---
qpos:
[ 1.51430288e-02, 7.68806421e-01,-3.72022429e-02,-4.88214831e-03,
 -6.08173311e-04, 7.74365389e-01,-3.13973487e-02, 1.02193524e-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,
  9.73598311e-03,-3.92538815e-02, 8.40966785e-02, 7.32252740e-01,
 -1.39240743e-01,-6.66052007e-01,-2.81542995e-02]

qacc:
[  3.59086543,-45.66908975, 87.43706315,-89.92217681,  0.78659734,
 -44.12160522, 85.32942878,-70.91712718, -0.21425881,-26.0561616 ,
  53.34024673,-37.45209796,  0.37369066, -0.71134378, -1.11644071,
   3.92135537, -1.48344231, -0.93219423, -7.59293388,-10.57189083,
 -47.00948082,-50.55175699]

qfrc_actuator:
[-0.0157015 , 0.12641167, 0.02255445, 0.00695613,-0.0023999 , 0.11685683,
  0.0131667 , 0.00369524,-0.00163025, 0.072886  , 0.00659893, 0.00117589,
  0.        ,-0.00163363, 0.        ,-0.00078157, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.15381205,  8.55894238, -1.15381205, 34.934774  ,
        3.5452304 ,  8.55894238,  3.5452304 ,  9.11428829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006101827933086182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09746257e-15, -1.81949251e-14,  1.00000000e+00, -1.65527650e-28,
        1.00000000e+00,  1.81949251e-14, -1.00000000e+00,  0.00000000e+00,
       -9.09746257e-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([ 0.05139374, -0.02352969,  0.06158011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.34138552e-04,-6.05061092e-03,-1.84654255e-03,-4.67948686e-04,
  1.16319024e-04,-5.31576152e-03,-1.50577871e-03,-3.49952608e-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,
  5.68286886e-03, 1.13863071e-02,-4.90991286e+00, 5.24164687e-03,
  3.03688692e-02, 6.81680617e-03]


--- Step 1981 ---
qpos:
[ 1.47895006e-02, 7.70871068e-01,-3.68832968e-02,-4.76768287e-03,
 -6.56346825e-04, 7.76227570e-01,-3.12693002e-02, 1.07101892e-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,
  9.66609737e-03,-3.93803551e-02, 8.42249777e-02, 7.31594387e-01,
 -1.37063119e-01,-6.67132058e-01,-3.03013254e-02]

qacc:
[  4.05542418,-42.23601258, 76.15821171,-71.93985378,  0.39471588,
 -43.88542981, 83.50566163,-62.9968495 , -0.23204121,-24.62721766,
  49.64768459,-34.08957744, -0.41061776,  0.47306644,  4.89435495,
 -16.47802485, -1.39394048, -0.86765039, -7.78097742, -9.48406402,
 -43.61694624,-47.09362019]

qfrc_actuator:
[-0.01531509, 0.12438429, 0.02225293, 0.00685535,-0.0023923 , 0.11495389,
  0.0130125 , 0.00366018,-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,  1.72832689,  8.46165841,  1.72832689, 39.92122889,
       -6.39005633,  8.46165841, -6.39005633,  9.94155769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005678840230856491
  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([ 0.05197019, -0.02326585,  0.06160589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06728395e-04,-5.86973416e-03,-1.81614322e-03,-4.37242084e-04,
  5.67979889e-05,-5.25252659e-03,-1.46751713e-03,-3.25205517e-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,
  6.71414216e-03, 1.27767703e-02,-4.91008274e+00, 5.14332237e-03,
  3.03837136e-02, 6.83275021e-03]


--- Step 1982 ---
qpos:
[ 1.44438742e-02, 7.72892182e-01,-3.65714745e-02,-4.65546039e-03,
 -7.04374996e-04, 7.78049921e-01,-3.11446547e-02, 1.11952921e-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,
  9.59090428e-03,-3.95100963e-02, 8.43215880e-02, 7.30867679e-01,
 -1.34839241e-01,-6.68276648e-01,-3.25136554e-02]

qacc:
[  4.60295134,-42.18107826, 76.42932928,-71.93526587,  0.09901303,
 -44.25407391, 83.87292017,-59.13272853, -0.41771675,-27.60252822,
  62.80189245,-59.1783114 , -0.59100844,  0.84351586,  5.15299914,
 -17.63540518, -1.32683406, -0.81691655, -7.9222393 , -8.57025444,
 -41.23333426,-44.77580184]

qfrc_actuator:
[-0.01487499, 0.12229732, 0.02193107, 0.00675047,-0.00240438, 0.11303797,
  0.01287105, 0.00363778,-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,   5.26873907,   6.84303773,   5.26873907,
        30.42093185, -16.77284419,   6.84303773, -16.77284419,
        21.55047328,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005271886148210517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05296567e-14, -2.10593134e-14,  1.00000000e+00,  2.21747340e-28,
        1.00000000e+00,  2.10593134e-14, -1.00000000e+00,  0.00000000e+00,
        1.05296567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05252861, -0.02300924,  0.06163081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92284198e-04,-5.81929029e-03,-1.79384178e-03,-4.31852361e-04,
  1.15571687e-05,-5.22001005e-03,-1.43571931e-03,-3.07948784e-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,
  7.75335631e-03, 1.41237434e-02,-4.91022740e+00, 5.03849745e-03,
  3.03997406e-02, 6.84968493e-03]


--- Step 1983 ---
qpos:
[ 1.41058756e-02, 7.74870128e-01,-3.62671377e-02,-4.54581824e-03,
 -7.51807373e-04, 7.79833155e-01,-3.10234003e-02, 1.16688750e-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,
  9.51059942e-03,-3.96429476e-02, 8.43860941e-02, 7.30074193e-01,
 -1.32569686e-01,-6.69482406e-01,-3.47887695e-02]

qacc:
[ 4.43227645e+00,-4.13850996e+01, 7.57127337e+01,-7.67421453e+01,
  3.57011482e-01,-4.45369825e+01, 8.86898448e+01,-7.45055954e+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,
 -1.27794314e+00,-7.77510299e-01,-8.02603290e+00,-7.79455021e+00,
 -3.96908517e+01,-4.34155697e+01]

qfrc_actuator:
[-0.01449516, 0.12020956, 0.021582  , 0.00662625,-0.00235699, 0.11118338,
  0.01273836, 0.00358753,-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,   7.64728675,   4.013201  ,   7.64728675,
        14.93523253, -12.00270223,   4.013201  , -12.00270223,
        31.50790823,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004882168288015874
  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([ 0.05306745, -0.02276068,  0.06165481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69526688e-04,-5.78576164e-03,-1.80723327e-03,-4.48066944e-04,
  5.14978314e-05,-5.13204364e-03,-1.41531469e-03,-3.32892347e-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,
  8.80931295e-03, 1.54487299e-02,-4.91035143e+00, 4.92847561e-03,
  3.04167777e-02, 6.86734149e-03]


--- Step 1984 ---
qpos:
[ 1.37747453e-02, 7.76806080e-01,-3.59712459e-02,-4.43868352e-03,
 -7.98853778e-04, 7.81578541e-01,-3.09057388e-02, 1.21340338e-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,
  9.42532049e-03,-3.97787878e-02, 8.44181993e-02, 7.29214492e-01,
 -1.30254166e-01,-6.70747189e-01,-3.71252530e-02]

qacc:
[  3.98120161,-37.01272265, 62.06040452,-61.14453146,  0.2352908 ,
 -41.66386673, 79.56870101,-60.6318589 ,  0.20610913,-21.32182351,
  43.08758782,-36.16432477, -0.52185313,  1.0582062 , -3.44446997,
  11.46555581, -1.24351757, -0.74722252, -8.10022726, -7.12644006,
 -38.84358357,-42.85282508]

qfrc_actuator:
[-0.01417216, 0.11822713, 0.02120205, 0.00650941,-0.00234545, 0.10943406,
  0.01261228, 0.00355688,-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, -8.60881452, -0.68926729, -8.60881452,  8.75136678,
       -1.43636697, -0.68926729, -1.43636697, 26.576308  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004510468249947254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15359073e-15, -1.23071815e-14,  1.00000000e+00,  7.57333578e-29,
        1.00000000e+00,  1.23071815e-14, -1.00000000e+00,  0.00000000e+00,
        6.15359073e-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([ 0.0535856 , -0.02252079,  0.06167785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.03869405e-04,-5.66384799e-03,-1.83290553e-03,-4.39932170e-04,
  3.30111046e-05,-4.97329666e-03,-1.38848851e-03,-3.09224170e-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,
  9.89374324e-03, 1.67727630e-02,-4.91045886e+00, 4.81449941e-03,
  3.04346237e-02, 6.88553012e-03]


--- Step 1985 ---
qpos:
[ 1.34503517e-02, 7.78700857e-01,-3.56832728e-02,-4.33331475e-03,
 -8.45647198e-04, 7.83286489e-01,-3.07906623e-02, 1.25934535e-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,
  9.33516077e-03,-3.99175243e-02, 8.44176988e-02, 7.28288285e-01,
 -1.27891669e-01,-6.72069832e-01,-3.95225971e-02]

qacc:
[  3.89597169,-35.87577151, 56.44649641,-44.14023528,  0.15937577,
 -43.38154056, 85.34909383,-63.68218099,  0.21809851,-22.89861744,
  44.89320889,-24.34000388,  0.41735994, -0.42322854, -5.47473343,
  18.45862016, -1.22019903, -0.72408622, -8.15143292, -6.54011763,
 -38.56542084,-42.94831755]

qfrc_actuator:
[-0.01383227, 0.11630624, 0.02086079, 0.00643346,-0.00233769, 0.10767352,
  0.01252723, 0.00353814,-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,  8.63591463, -0.08806433,  8.63591463,  8.63715794,
        0.0778921 , -0.08806433,  0.0778921 , 16.27475113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004157222061378002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.33529435e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.33529435e-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([ 0.05408232, -0.02229006,  0.06169989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93376990e-04,-5.53782080e-03,-1.77143421e-03,-3.94449886e-04,
  2.12705431e-05,-4.88809988e-03,-1.31015976e-03,-2.89046011e-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,
  1.10198999e-02, 1.81158073e-02,-4.91055288e+00, 4.69771318e-03,
  3.04530732e-02, 6.90411527e-03]


--- Step 1986 ---
qpos:
[ 1.31327257e-02, 7.80554615e-01,-3.54018310e-02,-4.22883646e-03,
 -8.91672505e-04, 7.84957715e-01,-3.06777083e-02, 1.30520643e-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,
  9.24018110e-03,-4.00590862e-02, 8.43844576e-02, 7.27294566e-01,
 -1.25480581e-01,-6.73449947e-01,-4.19810264e-02]

qacc:
[  3.90588944,-37.73877028, 59.69856725,-34.58237272,  0.45306121,
 -42.71451271, 82.26098292,-53.32620836,  0.14895704,-27.28226808,
  59.01417879,-36.93298079, -0.42262013,  0.75853423,  1.17995783,
  -3.73336182, -1.20498746, -0.7063505 , -8.18517139, -6.01385677,
 -38.74804199,-43.5817836 ]

qfrc_actuator:
[-0.01348486, 0.11436724, 0.02058111, 0.00640006,-0.00227896, 0.10595648,
  0.01246723, 0.00354437,-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,  8.57608538, -1.01859531,  8.57608538,  8.85189258,
        1.81465062, -1.01859531,  1.81465062, 23.91485396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038225847412425296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.26094449e-15,  1.45218890e-14,  1.00000000e+00, -1.05442630e-28,
        1.00000000e+00, -1.45218890e-14, -1.00000000e+00,  0.00000000e+00,
        7.26094449e-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([ 0.05455718, -0.0220688 ,  0.06172092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97182425e-04,-5.46959458e-03,-1.67422297e-03,-3.43396688e-04,
  6.71698567e-05,-4.77884674e-03,-1.25679299e-03,-2.57250766e-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,
  1.22016710e-02, 1.94964716e-02,-4.91063575e+00, 4.57914748e-03,
  3.04719313e-02, 6.92299748e-03]


--- Step 1987 ---
qpos:
[ 1.28215020e-02, 7.82368417e-01,-3.51265881e-02,-4.12649980e-03,
 -9.36369833e-04, 7.86593934e-01,-3.05682714e-02, 1.34956147e-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,
  9.14042058e-03,-4.02034179e-02, 8.43183924e-02, 7.26231739e-01,
 -1.23018792e-01,-6.74887745e-01,-4.45013505e-02]

qacc:
[ 3.68709744e+00,-3.98372632e+01, 7.44988199e+01,-7.23490769e+01,
  7.69055039e-01,-3.94913090e+01, 8.00683098e+01,-7.48210549e+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,
 -1.19521023e+00,-6.92458085e-01,-8.20602730e+00,-5.52945113e+00,
 -3.92989659e+01,-4.46500641e+01]

qfrc_actuator:
[-0.01317119, 0.1125047 , 0.02032239, 0.00630326,-0.00219027, 0.10433306,
  0.01233406, 0.00347655,-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,  8.4485604 , -1.79125768,  8.4485604 ,  9.52557923,
        4.1940318 , -1.79125768,  4.1940318 , 28.41773364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003506485278596705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.91549755e-15,  1.58309951e-14,  1.00000000e+00, -1.25310203e-28,
        1.00000000e+00, -1.58309951e-14, -1.00000000e+00,  0.00000000e+00,
        7.91549755e-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([ 0.05501001, -0.02185723,  0.06174094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.65883556e-04,-5.33152958e-03,-1.62497151e-03,-3.99430518e-04,
  1.17213007e-04,-4.61070319e-03,-1.29935617e-03,-3.24081137e-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,
  1.34530416e-02, 2.09319194e-02,-4.91070878e+00, 4.45971709e-03,
  3.04910211e-02, 6.94209992e-03]


--- Step 1988 ---
qpos:
[ 1.25160704e-02, 7.84144036e-01,-3.48581094e-02,-4.02776626e-03,
 -9.79502115e-04, 7.88195407e-01,-3.04618411e-02, 1.39193769e-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,
  9.03590609e-03,-4.03504738e-02, 8.42194559e-02, 7.25097717e-01,
 -1.20503788e-01,-6.76383882e-01,-4.70848370e-02]

qacc:
[   3.32830161, -38.92685681,  80.81820816,-104.3536289 ,   0.90261339,
  -41.54259779,  89.88171778, -93.82869148,  -0.30870432, -21.10363837,
   44.12530761, -36.99669708,   0.36750203,  -0.44182831,   0.36045842,
   -1.44901932,  -1.18849289,  -0.68102515,  -8.21778313,  -5.07171369,
  -40.13969999, -46.06525178]

qfrc_actuator:
[-0.01289784, 0.11075664, 0.02004303, 0.00613451,-0.00210222, 0.10267226,
  0.01221249, 0.00338352,-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,  8.28720236, -2.43085455,  8.28720236, 10.51843455,
        6.41630433, -2.43085455,  6.41630433, 30.5106516 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003208673205828877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65017215e-15,  3.46006886e-14,  1.00000000e+00, -2.99301913e-28,
        1.00000000e+00, -3.46006886e-14, -1.00000000e+00,  0.00000000e+00,
        8.65017215e-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([ 0.05544089, -0.02165543,  0.06175995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12755753e-04,-5.13090704e-03,-1.61253459e-03,-4.64754585e-04,
  1.38556700e-04,-4.56468409e-03,-1.26022515e-03,-3.44799308e-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,
  1.47877817e-02, 2.24378992e-02,-4.91077230e+00, 4.34022699e-03,
  3.05101883e-02, 6.96135841e-03]


--- Step 1989 ---
qpos:
[ 1.22162748e-02, 7.85882270e-01,-3.45962940e-02,-3.93235248e-03,
 -1.02117735e-03, 7.89762502e-01,-3.03579789e-02, 1.43238685e-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,
  8.92666068e-03,-4.05002129e-02, 8.40876253e-02, 7.23890008e-01,
 -1.17932728e-01,-6.77939339e-01,-4.97331031e-02]

qacc:
[  3.23173961,-37.57457775, 76.32717632,-95.70245653,  0.83983617,
 -42.17572415, 92.62420172,-96.64687728, -0.33974754,-22.68188591,
  49.63371298,-45.04061978,  0.34675811, -0.48928413, -0.88671963,
   2.82065353, -1.18273125, -0.67082305, -8.2235372 , -4.62803274,
 -41.2040037 ,-47.75291132]

qfrc_actuator:
[-0.01261513, 0.10900271, 0.01975433, 0.00597819,-0.00203308, 0.10103829,
  0.01211654, 0.00329419,-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,  8.11234734, -2.96253228,  8.11234734, 11.61027484,
        8.14350642, -2.96253228,  8.14350642, 30.93585153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002928757845128957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84307311e-14,  1.89538208e-14,  1.00000000e+00, -5.38870982e-28,
        1.00000000e+00, -1.89538208e-14, -1.00000000e+00,  0.00000000e+00,
        2.84307311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05585003, -0.02146344,  0.06177798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.99754351e-04,-5.02368900e-03,-1.58074186e-03,-4.44502052e-04,
  1.29119915e-04,-4.50393419e-03,-1.22065365e-03,-3.38109086e-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,
  1.62192748e-02, 2.40288402e-02,-4.91082570e+00, 4.22138242e-03,
  3.05293013e-02, 6.98071380e-03]


--- Step 1990 ---
qpos:
[ 1.19222880e-02, 7.87583043e-01,-3.43402507e-02,-3.83898796e-03,
 -1.06157535e-03, 7.91296326e-01,-3.02566985e-02, 1.47124990e-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,
  8.81271101e-03,-4.06525951e-02, 8.39228915e-02, 7.22605785e-01,
 -1.15302507e-01,-6.79555307e-01,-5.24480240e-02]

qacc:
[  3.32434062,-37.5459942 , 70.72340021,-69.48521707,  0.73598195,
 -39.97452651, 85.45892166,-84.37030631, -0.19162861,-25.12041863,
  51.53092872,-23.62090117,  0.46912754, -0.72481862, -2.72387506,
   9.1085875 , -1.17606459, -0.66076145, -8.22580608, -4.18798089,
 -42.43628331,-49.6504028 ]

qfrc_actuator:
[-0.01231122, 0.10720648, 0.01949813, 0.00588372,-0.0019758 , 0.09950495,
  0.01203671, 0.00322556,-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,  7.93560744, -3.40777221,  7.93560744, 12.62969062,
        9.29917652, -3.40777221,  9.29917652, 30.29116036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026662412062371105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04100017e-14, -4.16400070e-14,  1.00000000e+00,  4.33472546e-28,
        1.00000000e+00,  4.16400070e-14, -1.00000000e+00,  0.00000000e+00,
        1.04100017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05623783, -0.02128119,  0.06179505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15941832e-04,-4.99750710e-03,-1.52105997e-03,-3.76466946e-04,
  1.13245714e-04,-4.35989047e-03,-1.18652456e-03,-3.13226736e-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,
  1.77604334e-02, 2.57179773e-02,-4.91086745e+00, 4.10380066e-03,
  3.05482522e-02, 7.00010621e-03]


--- Step 1991 ---
qpos:
[ 1.16343017e-02, 7.89247891e-01,-3.40907428e-02,-3.74666083e-03,
 -1.10085828e-03, 7.92797023e-01,-3.01577290e-02, 1.51027416e-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,
  8.69409394e-03,-4.08075768e-02, 8.37252513e-02, 7.21241951e-01,
 -1.12609812e-01,-6.81233105e-01,-5.52316558e-02]

qacc:
[  3.42558009,-31.31294255, 47.16315285,-28.3065951 ,  0.64323819,
 -36.94812301, 67.5657673 ,-36.77156779, -0.23403372,-21.87036801,
  42.30656417,-14.80743372,  0.45717316, -0.67204442, -8.0793833 ,
  27.50887097, -1.16685022, -0.64987285, -8.2266126 , -3.74297361,
 -43.79012722,-51.70533026]

qfrc_actuator:
[-0.011997  , 0.10555968, 0.0192277 , 0.00584418,-0.00192604, 0.09792037,
  0.01194985, 0.0032408 ,-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,  7.76340942, -3.78368221,  7.76340942, 13.47631103,
        9.93066837, -3.78368221,  9.93066837, 29.01224095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002420545414867248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29333236e-14, -2.29333236e-14,  1.00000000e+00,  5.25937330e-28,
        1.00000000e+00,  2.29333236e-14, -1.00000000e+00,  0.00000000e+00,
        2.29333236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05660479, -0.02110855,  0.06181119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33907577e-04,-4.81712811e-03,-1.51977104e-03,-3.16947110e-04,
  9.88757341e-05,-4.32152860e-03,-1.15840888e-03,-2.21456976e-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,
  1.94236610e-02, 2.75174835e-02,-4.91089508e+00, 3.98802287e-03,
  3.05669550e-02, 7.01947046e-03]


--- Step 1992 ---
qpos:
[ 1.13522438e-02, 7.90877956e-01,-3.38474986e-02,-3.65541669e-03,
 -1.13875585e-03, 7.94265378e-01,-3.00620717e-02, 1.54909053e-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,
  8.57086231e-03,-4.09651076e-02, 8.34947008e-02, 7.19795180e-01,
 -1.09851169e-01,-6.82974097e-01,-5.80861704e-02]

qacc:
[  3.37755219,-30.65825529, 47.2105008 ,-30.41553156,  0.79357327,
 -33.87702743, 59.67563139,-34.2390506 , -0.11234244,-24.6699029 ,
  60.58919391,-63.43922889, -0.11301102,  0.22682385, -6.82488701,
  23.69072028, -1.1536394 , -0.63729829, -8.22756104, -3.28597333,
 -45.22698547,-53.87412713]

qfrc_actuator:
[-0.01169688, 0.10396271, 0.01896957, 0.0058019 ,-0.00184563, 0.09637147,
  0.01180628, 0.00323424,-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,  7.59920233, -4.10352298,  7.59920233, 14.1077111 ,
       10.13223919, -4.10352298, 10.13223919, 27.39998115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002191035455987561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26677894e-14, -2.53355787e-14,  1.00000000e+00,  3.20945774e-28,
        1.00000000e+00,  2.53355787e-14, -1.00000000e+00,  0.00000000e+00,
        1.26677894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0569515 , -0.02094538,  0.06182642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28324250e-04,-4.66256380e-03,-1.46762237e-03,-3.10682495e-04,
  1.23286320e-04,-4.25373139e-03,-1.20023655e-03,-2.38794656e-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,
  2.12208394e-02, 2.94385964e-02,-4.91090525e+00, 3.87452527e-03,
  3.05853449e-02, 7.03873254e-03]


--- Step 1993 ---
qpos:
[ 1.10755673e-02, 7.92473766e-01,-3.36096990e-02,-3.56592760e-03,
 -1.17534782e-03, 7.95702796e-01,-2.99704235e-02, 1.58664905e-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,
  8.44309007e-03,-4.11251276e-02, 8.32312307e-02, 7.18261963e-01,
 -1.07022978e-01,-6.84779636e-01,-6.10138010e-02]

qacc:
[ 3.06138893e+00,-3.36269089e+01, 6.16492554e+01,-5.81891202e+01,
  7.46068034e-01,-3.22375418e+01, 6.09541353e+01,-5.36041318e+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,
 -1.13515501e+00,-6.22274378e-01,-8.22990081e+00,-2.81123523e+00,
 -4.67149922e+01,-5.61207830e+01]

qfrc_actuator:
[-0.01144305, 0.10235563, 0.0187389 , 0.00572294,-0.00178306, 0.0949452 ,
  0.01164835, 0.0031794 ,-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,  7.44473448, -4.37752275,  7.44473448, 14.52029029,
       10.00663483, -4.37752275, 10.00663483, 25.6543767 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019770379256892068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80779395e-14, -5.61558790e-14,  1.00000000e+00,  1.57674137e-27,
        1.00000000e+00,  5.61558790e-14, -1.00000000e+00,  0.00000000e+00,
        2.80779395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05727861, -0.02079145,  0.06184079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80225261e-04,-4.57421435e-03,-1.40121226e-03,-3.38749669e-04,
  1.16322407e-04,-4.10164192e-03,-1.20601425e-03,-2.85895681e-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,
  2.31633254e-02, 3.14917294e-02,-4.91089369e+00, 3.76372907e-03,
  3.06033770e-02, 7.05780682e-03]


--- Step 1994 ---
qpos:
[ 1.08039025e-02, 7.94035944e-01,-3.33769129e-02,-3.47894747e-03,
 -1.21099054e-03, 7.97109904e-01,-2.98816095e-02, 1.62269597e-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,
  8.31087673e-03,-4.12875641e-02, 8.29348223e-02, 7.16638641e-01,
 -1.04121544e-01,-6.86651011e-01,-6.40167967e-02]

qacc:
[ 2.84647414e+00,-3.55588049e+01, 7.29142159e+01,-8.36505611e+01,
  5.44944294e-01,-3.52103626e+01, 7.38303099e+01,-7.32172089e+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,
 -1.11027080e+00,-6.04121426e-01,-8.23458016e+00,-2.31409035e+00,
 -4.82279258e+01,-5.84157104e+01]

qfrc_actuator:
[-0.01120106, 0.10077361, 0.0185264 , 0.00560531,-0.00174941, 0.09355079,
  0.01155485, 0.00311447,-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,  7.30076866, -4.61362697,  7.30076866, 14.73315069,
        9.64777433, -4.61362697,  9.64777433, 23.9033475 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00177785640076112
  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([ 0.05758685, -0.02064653,  0.06185432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.47839124e-04,-4.48624707e-03,-1.35721564e-03,-3.71798955e-04,
  8.44382720e-05,-3.98706501e-03,-1.11220322e-03,-2.90517565e-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,
  2.52619489e-02, 3.36865674e-02,-4.91085527e+00, 3.65600908e-03,
  3.06210245e-02, 7.07659372e-03]


--- Step 1995 ---
qpos:
[ 1.05367921e-02, 7.95565032e-01,-3.31490997e-02,-3.39488072e-03,
 -1.24603563e-03, 7.98487552e-01,-2.97954235e-02, 1.65716140e-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,
  8.17435143e-03,-4.14523294e-02, 8.26054447e-02, 7.14921428e-01,
 -1.01143108e-01,-6.88589402e-01,-6.70973844e-02]

qacc:
[ 2.58272808e+00,-3.57876775e+01, 7.64778688e+01,-9.46761652e+01,
  3.46300804e-01,-3.48068177e+01, 7.43169825e+01,-7.58678773e+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,
 -1.07799266e+00,-5.82232871e-01,-8.24229116e+00,-1.79076209e+00,
 -4.97442986e+01,-6.07347464e+01]

qfrc_actuator:
[-0.01098572, 0.09920195, 0.01830879, 0.00546594,-0.00173329, 0.09218724,
  0.01146492, 0.00304425,-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,  7.16748163, -4.81808924,  7.16748163, 14.77656165,
        9.13427591, -4.81808924,  9.13427591, 22.22468705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001592783957051938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48516514e-14,  3.48516514e-14,  1.00000000e+00, -1.21463761e-27,
        1.00000000e+00, -3.48516514e-14, -1.00000000e+00,  0.00000000e+00,
        3.48516514e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05787694, -0.02051038,  0.06186707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07476153e-04,-4.41805637e-03,-1.33951621e-03,-3.88818671e-04,
  5.28986042e-05,-3.87210721e-03,-1.07325967e-03,-2.87684269e-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,
  2.75270061e-02, 3.60321424e-02,-4.91078391e+00, 3.55170089e-03,
  3.06382785e-02, 7.09497795e-03]


--- Step 1996 ---
qpos:
[ 1.02740391e-02, 7.97061903e-01,-3.29267021e-02,-3.31397211e-03,
 -1.28075510e-03, 7.99836103e-01,-2.97118362e-02, 1.69041714e-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,
  8.03367636e-03,-4.16193191e-02, 8.22430531e-02, 7.13106435e-01,
 -9.80838618e-02,-6.90595844e-01,-7.02577375e-02]

qacc:
[  2.46634714,-33.90735753, 72.47385509,-94.83485395,  0.19304766,
 -33.64639315, 69.30299235,-64.73045034,  0.20843059,-19.90657625,
  44.42206966,-41.0291587 , -0.45621067,  0.6993275 , -2.53327053,
   8.60422243, -1.03744162, -0.55606582, -8.25350714, -1.23821203,
 -51.2465671 ,-63.05828031]

qfrc_actuator:
[-0.01077015, 0.09768492, 0.01807233, 0.00531493,-0.00172771, 0.09080022,
  0.01136032, 0.00298928,-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,  7.04469256, -4.99590668,  7.04469256, 14.6844185 ,
        8.52831925, -4.99590668,  8.52831925, 20.66208611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014211132966430035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90617352e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.90617352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05814966, -0.02038271,  0.06187906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90381917e-04,-4.32141398e-03,-1.34233706e-03,-3.97179757e-04,
  2.84440462e-05,-3.82230172e-03,-1.05900558e-03,-2.66046082e-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,
  2.99682478e-02, 3.85368923e-02,-4.91067265e+00, 3.45110687e-03,
  3.06551462e-02, 7.11282702e-03]


--- Step 1997 ---
qpos:
[ 1.00155417e-02, 7.98527194e-01,-3.27093537e-02,-3.23532601e-03,
 -1.31494574e-03, 8.01155786e-01,-2.96308868e-02, 1.72267943e-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,
  7.88904994e-03,-4.17884093e-02, 8.18475874e-02, 7.11189685e-01,
 -9.49399689e-02,-6.92671200e-01,-7.34999493e-02]

qacc:
[ 2.40487380e+00,-3.22449348e+01, 6.39910107e+01,-7.19058977e+01,
  3.06447280e-01,-3.27880076e+01, 6.57712576e+01,-5.75619439e+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,
 -9.87838787e-01,-5.25132736e-01,-8.26851367e+00,-6.54011363e-01,
 -5.27204500e+01,-6.53704974e+01]

qfrc_actuator:
[-0.01055607, 0.09621304, 0.0178625 , 0.00521161,-0.00169292, 0.08941054,
  0.01124792, 0.00294372,-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,  6.9319999 , -5.15113136,  6.9319999 , 14.48969785,
        7.87697097, -5.15113136,  7.87697097, 19.23659069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001262144879896801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39816000e-14, -8.79632000e-14,  1.00000000e+00,  3.86876227e-27,
        1.00000000e+00,  8.79632000e-14, -1.00000000e+00,  0.00000000e+00,
        4.39816000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05840578, -0.02026324,  0.06189035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81789207e-04,-4.22224138e-03,-1.29604055e-03,-3.45542965e-04,
  4.68360399e-05,-3.79242385e-03,-1.05371030e-03,-2.53528729e-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,
  3.25948595e-02, 4.12087028e-02,-4.91051353e+00, 3.35450094e-03,
  3.06716504e-02, 7.12999006e-03]


--- Step 1998 ---
qpos:
[ 9.76142546e-03, 7.99961749e-01,-3.24973621e-02,-3.15764138e-03,
 -1.34852379e-03, 8.02447461e-01,-2.95529243e-02, 1.75401045e-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,
  7.73356390e-03,-4.19598980e-02, 8.14294895e-02, 7.09036939e-01,
 -9.16842782e-02,-6.94948736e-01,-7.68561451e-02]

qacc:
[   2.47083826, -27.59965017,  43.54888773, -29.06788223,   0.35221456,
  -30.5534107 ,  59.18517603, -49.96895713,  -0.39190614, -22.55784882,
   53.86025537, -50.6196991 ,  -0.60783285,   0.82140751,  14.07518214,
  -48.02429054,  -2.71490377,  -0.59964024,  -5.65807588,  -3.49474473,
 -144.10950966, -97.52384447]

qfrc_actuator:
[-0.01032678, 0.0947805 , 0.01763494, 0.00517278,-0.00165869, 0.08810168,
  0.01113194, 0.00290408,-0.00183596, 0.05842001, 0.00693879, 0.00113971,
  0.        ,-0.00147531, 0.        ,-0.00109559, 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: -0.0011415408214050515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43141332e-14,  4.86282665e-14,  1.00000000e+00, -1.18235415e-27,
        1.00000000e+00, -4.86282665e-14, -1.00000000e+00,  0.00000000e+00,
        2.43141332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05689411, -0.03381383,  0.06189874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93633653e-04,-4.11477935e-03,-1.28546092e-03,-2.74134780e-04,
  5.44908905e-05,-3.69245149e-03,-1.04976148e-03,-2.45851335e-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,
  3.54154334e-02, 4.40549342e-02,-4.91029769e+00, 3.26213235e-03,
  3.06878292e-02, 7.14629688e-03]


--- Step 1999 ---
qpos:
[ 9.51281236e-03, 8.01366098e-01,-3.22906667e-02,-3.08150286e-03,
 -1.38106656e-03, 8.03711502e-01,-2.94770149e-02, 1.78515215e-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,
  7.56492002e-03,-4.21350161e-02, 8.09886448e-02, 7.06662593e-01,
 -8.83427978e-02,-6.97404441e-01,-8.03154749e-02]

qacc:
[   3.09603313, -28.2716872 ,  49.42914647, -45.5515219 ,   0.5883947 ,
  -31.13892137,  58.85994995, -38.57299034,  -0.33113545, -20.22751573,
   43.09618781, -29.01994797,  -0.70680626,   1.13341409,   6.20789248,
  -21.71846259,  -3.28946139,  -0.90735257,  -5.6866709 ,  -8.73435361,
 -132.14194269, -83.05778186]

qfrc_actuator:
[-0.01000143, 0.09334784, 0.01739906, 0.00510123,-0.00158958, 0.0868165 ,
  0.01106846, 0.00290382,-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, -5.60901506,  6.56701811, -5.60901506,  8.80989377,
        0.14821539,  6.56701811,  0.14821539,  8.76295722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012384809135462152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13203483e-01, -3.13203483e-01,  8.96552930e-01, -1.03293528e-01,
        9.49686042e-01,  2.95680349e-01, -9.44051919e-01,  1.38777878e-17,
       -3.29796869e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05690655, -0.03381987,  0.06189972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95369866e-04,-4.04868674e-03,-1.26747721e-03,-3.00427519e-04,
  9.28280981e-05,-3.61093896e-03,-9.75575470e-04,-2.01838317e-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,
  4.27601471e-02, 4.98530234e-02,-4.91023580e+00, 3.39485940e-03,
  3.06857777e-02, 7.16764528e-03]


--- Step 2000 ---
qpos:
[ 0.00927022, 0.8027402 ,-0.03208795,-0.00300696,-0.00141255, 0.80494853,
 -0.02940333, 0.00181559,-0.00172935, 0.84159585,-0.01753681,-0.02087907,
  1.39133302, 0.01858199, 1.36985481, 0.0243309 , 0.00738502,-0.0423131 ,
  0.08052354, 0.70407315,-0.08491175,-0.70002605,-0.08387205]

qacc:
[ 3.38035039e+00,-3.21027778e+01, 6.32041783e+01,-6.22077698e+01,
  5.98192961e-01,-3.09202984e+01, 6.14461973e+01,-5.02869591e+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,
 -2.81345208e+00,-7.41739458e-01,-6.06478090e+00,-5.10257881e+00,
 -1.25734749e+02,-8.15625666e+01]

qfrc_actuator:
[-0.00967457, 0.09190912, 0.0172313 , 0.00502877,-0.00153571, 0.08553861,
  0.01098349, 0.00287357,-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,  6.1529447 , -6.06036702,  6.1529447 ,  7.48141276,
       -1.17259382, -6.06036702, -1.17259382,  7.44585737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00119564740432584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31896655, -0.31896655,  0.89248008, -0.10734681,  0.94776597,
        0.30036031, -0.94166714,  0.        , -0.33654568])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05693717, -0.03382637,  0.0619017 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.42489397e-04,-4.01434898e-03,-1.18410481e-03,-2.98333257e-04,
  9.47457888e-05,-3.54010189e-03,-9.69303874e-04,-2.24864765e-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,
  5.00333109e-02, 5.52066483e-02,-4.90974649e+00, 3.50033226e-03,
  3.06549406e-02, 7.19675729e-03]


--- Step 2001 ---
qpos:
[ 0.00903365, 0.80408465,-0.03188914,-0.00293365,-0.00144347, 0.80615894,
 -0.02933172, 0.00184532,-0.00171908, 0.84220989,-0.01755834,-0.02088425,
  1.39139997, 0.01858085, 1.36994389, 0.0243299 , 0.00719908,-0.042492  ,
  0.08003165, 0.70126949,-0.08136501,-0.70280904,-0.08752311]

qacc:
[ 3.38217897e+00,-3.07777742e+01, 5.81435600e+01,-5.16068626e+01,
  3.25393369e-01,-3.07570143e+01, 6.16290233e+01,-5.09591170e+01,
  1.20645862e-01,-1.76723345e+01, 3.36007081e+01,-9.36812924e+00,
  4.35972119e-01,-5.71277617e-01,-3.31321925e+00, 1.13071733e+01,
 -1.51154113e+00,-2.04010244e-01,-6.69658197e+00, 5.33193102e+00,
 -1.22927437e+02,-8.95873380e+01]

qfrc_actuator:
[-0.00936727, 0.0905144 , 0.01706969, 0.00497419,-0.00152694, 0.08427552,
  0.01090436, 0.00284367,-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,  6.1575128 , -6.05572563,  6.1575128 ,  7.66291009,
       -0.98981577, -6.05572563, -0.98981577,  7.62991063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010142997271363058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73642740e-14, -5.47285479e-14,  1.00000000e+00, -1.49760698e-27,
        1.00000000e+00,  5.47285479e-14, -1.00000000e+00,  0.00000000e+00,
       -2.73642740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05698295, -0.0338331 ,  0.06190452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44366737e-04,-3.93300623e-03,-1.16020526e-03,-2.76003031e-04,
  5.05893510e-05,-3.48462704e-03,-9.48590513e-04,-2.21661171e-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,
  5.75151288e-02, 6.05521557e-02,-4.90911054e+00, 3.60114616e-03,
  3.06359109e-02, 7.22209179e-03]


--- Step 2002 ---
qpos:
[ 0.00880297, 0.80540048,-0.03169519,-0.002861  ,-0.00147356, 0.80734327,
 -0.02926221, 0.00187504,-0.00170901, 0.84281117,-0.01757871,-0.02088888,
  1.39146703, 0.01857944, 1.37003289, 0.02433019, 0.00700615,-0.04262803,
  0.07960652, 0.69817117,-0.07855445,-0.7058514 ,-0.09033276]

qacc:
[ 3.29258773e+00,-2.55711738e+01, 3.90898487e+01,-2.16709826e+01,
  4.73366783e-01,-2.86184129e+01, 5.21013548e+01,-2.98204871e+01,
 -1.06680816e-01,-1.89721497e+01, 4.08568608e+01,-2.37783175e+01,
  3.63194953e-01,-5.14069616e-01,-4.05101581e+00, 1.38896332e+01,
 -1.74498187e+00, 1.07195211e+01, 1.66889007e+01, 3.69075796e+01,
 -2.60933131e+02, 5.30277778e+02]

qfrc_actuator:
[-0.00907413, 0.08917533, 0.01686004, 0.00494836,-0.00147414, 0.08304947,
  0.0108295 , 0.00284977,-0.00184572, 0.05590551, 0.00711771, 0.00126856,
  0.        ,-0.00146659, 0.        ,-0.00090443, 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: -0.001215220114854837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.85198721e-14, -4.56799147e-14,  1.00000000e+00,  3.12998192e-27,
        1.00000000e+00,  4.56799147e-14, -1.00000000e+00,  0.00000000e+00,
        6.85198721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02175145, -0.06521414,  0.06188434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.31549315e-04,-3.82515425e-03,-1.18742694e-03,-2.42435909e-04,
  7.49146488e-05,-3.41141996e-03,-9.29948802e-04,-1.82458160e-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,
  6.54631141e-02, 6.62817730e-02,-4.90853647e+00, 3.71665360e-03,
  3.06639077e-02, 7.23112280e-03]


--- Step 2003 ---
qpos:
[ 0.00857759, 0.80668825,-0.03150615,-0.00278934,-0.00150319, 0.80850246,
 -0.02919485, 0.00190409,-0.00169946, 0.84340031,-0.01759899,-0.02089447,
  1.39153396, 0.01857833, 1.37012162, 0.0243336 , 0.00684628,-0.04272538,
  0.0792774 , 0.69551715,-0.07654353,-0.70842384,-0.09237237]

qacc:
[ 2.96666909e+00,-2.53998611e+01, 4.09442854e+01,-2.96844291e+01,
  2.62901165e-01,-2.85380019e+01, 5.63832135e+01,-4.59970292e+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,
  8.26110056e+00, 9.66712225e+00, 2.40057335e+01,-1.11480348e+01,
  2.54487206e+02, 5.89559892e+02]

qfrc_actuator:
[-0.00882726, 0.08784497, 0.01664184, 0.0049042 ,-0.00146644, 0.08189126,
  0.01075803, 0.00282379,-0.00188558, 0.05531808, 0.00712471, 0.00121954,
  0.        ,-0.00144061, 0.        ,-0.00074174, 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: -0.0017367503154187697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.19626550e-14, -3.19626550e-14,  1.00000000e+00,  1.02161132e-27,
        1.00000000e+00,  3.19626550e-14, -1.00000000e+00,  0.00000000e+00,
        3.19626550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00276538, -0.05866062,  0.06183594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80061638e-04,-3.75951458e-03,-1.17560714e-03,-2.56383432e-04,
  4.07737939e-05,-3.29639306e-03,-9.07529753e-04,-2.09937402e-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,
  7.33405340e-02, 5.25337616e-02,-4.90775979e+00, 3.18603519e-03,
  3.08244576e-02, 7.19572823e-03]


--- Step 2004 ---
qpos:
[ 0.00835694, 0.80794723,-0.03132119,-0.00271914,-0.00153244, 0.80963726,
 -0.02912922, 0.0019314 ,-0.00169042, 0.843977  ,-0.01761926,-0.02090092,
  1.39160089, 0.01857726, 1.37021048, 0.02433793, 0.00673434,-0.04279365,
  0.0789982 , 0.69361181,-0.07530581,-0.71024438,-0.0937262 ]

qacc:
[ 2.64030228e+00,-2.95487515e+01, 5.63056185e+01,-5.37087842e+01,
  2.20813514e-01,-3.09840567e+01, 7.10710865e+01,-8.05643360e+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,
  1.19865190e+01, 7.26998628e+00, 1.24762783e+01,-3.20560179e+01,
  4.64717359e+02, 5.75720403e+02]

qfrc_actuator:
[-0.00860992, 0.08640648, 0.01643824, 0.00483188,-0.00145023, 0.08076549,
  0.01070725, 0.00274373,-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, -8.62599048, -0.42316086, -8.62599048,  8.66436331,
       -0.57076375, -0.42316086, -0.57076375, 20.27118886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002405105591872611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.46208196e-14,  2.30805464e-14,  1.00000000e+00, -7.99067434e-28,
        1.00000000e+00, -2.30805464e-14, -1.00000000e+00,  0.00000000e+00,
        3.46208196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02953657, -0.06393259,  0.06177692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27970039e-04,-3.82831309e-03,-1.14616625e-03,-2.81529168e-04,
  3.40071011e-05,-3.19549087e-03,-8.61028359e-04,-2.58810825e-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,
  5.15963540e-02, 3.09170703e-02,-4.90597825e+00, 1.68949499e-03,
  3.07804533e-02, 7.22776944e-03]


--- Step 2005 ---
qpos:
[ 0.00814055, 0.80917757,-0.03113957,-0.0026508 ,-0.0015605 , 0.81074858,
 -0.02906576, 0.00195811,-0.00168183, 0.84454171,-0.01763981,-0.02090722,
  1.39166785, 0.01857619, 1.3702993 , 0.02434376, 0.00666315,-0.04283721,
  0.07875806, 0.69235692,-0.07473485,-0.71142661,-0.09449221]

qacc:
[ 2.37572772e+00,-3.23808032e+01, 6.84928449e+01,-7.46691187e+01,
  6.63769324e-01,-2.61648013e+01, 5.08596382e+01,-4.06871425e+01,
 -2.30086397e-01,-1.47620183e+01, 2.90284578e+01,-1.71860936e+01,
  1.37479062e-01,-1.35470170e-01,-4.58941984e+00, 1.59253311e+01,
  1.01841842e+01, 6.18052158e+00, 9.76653855e+00,-2.79056048e+01,
  3.98983678e+02, 4.95156632e+02]

qfrc_actuator:
[-0.00841184, 0.0850393 , 0.01629781, 0.00474353,-0.00135803, 0.07968625,
  0.01063381, 0.00272131,-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, -2.95031128,  8.11679988, -2.95031128, 83.19864886,
       27.10205431,  8.11679988, 27.10205431, 18.48747463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002992469226247539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.71005661e-14, -9.27514154e-15,  1.00000000e+00,  3.44113002e-28,
        1.00000000e+00,  9.27514154e-15, -1.00000000e+00,  0.00000000e+00,
        3.71005661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02834748, -0.06334575,  0.0617268 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85766591e-04,-3.78965739e-03,-1.09414815e-03,-2.99926822e-04,
  1.07006321e-04,-3.08435856e-03,-8.58579047e-04,-1.96130694e-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,
  2.57984973e-02, 1.37064130e-02,-4.90492839e+00, 3.49876998e-04,
  3.07246966e-02, 7.26621377e-03]


--- Step 2006 ---
qpos:
[ 0.00792806, 0.81038106,-0.03096239,-0.00258461,-0.00158751, 0.81183599,
 -0.02900358, 0.00198532,-0.00167358, 0.84509452,-0.01765981,-0.02091306,
  1.39173481, 0.01857513, 1.37038807, 0.02435112, 0.00662791,-0.04286946,
  0.07853133, 0.69173376,-0.07458083,-0.71199453,-0.09489938]

qacc:
[ 2.17545158e+00,-2.74601676e+01, 5.54556503e+01,-6.56480995e+01,
  5.95127955e-01,-2.69569094e+01, 4.81026120e+01,-1.96257245e+01,
 -1.83297115e-01,-1.63236326e+01, 3.34695808e+01,-1.77729700e+01,
  1.33336673e-01,-1.32892741e-01,-4.75329612e+00, 1.64860943e+01,
  8.99095696e+00, 2.82543561e+00, 3.35415419e+00,-2.21081167e+01,
  4.04267709e+02, 3.25336722e+02]

qfrc_actuator:
[-0.00822675, 0.0838328 , 0.01612515, 0.00464656,-0.00130995, 0.0785195 ,
  0.01058342, 0.00275081,-0.00194781, 0.05358465, 0.0071708 , 0.00121456,
  0.        ,-0.00144327, 0.        ,-0.00054732, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.45497669,  1.76072315, -8.45497669,  8.55445162,
       -0.39334074,  1.76072315, -0.39334074,  6.74754493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034779838689606157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59607271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59607271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04945429, -0.0588003 ,  0.06168633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54233659e-04,-3.59662094e-03,-1.11233931e-03,-3.05384976e-04,
  9.57800579e-05,-3.10587734e-03,-8.09873794e-04,-1.38113558e-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,
  1.07441706e-02, 4.30982230e-03,-4.90474102e+00,-3.98848929e-04,
  3.07310085e-02, 7.27437343e-03]


--- Step 2007 ---
qpos:
[ 0.00771922, 0.81155874,-0.03079011,-0.00252025,-0.00161419, 0.81289955,
 -0.02894238, 0.00201192,-0.00166562, 0.84563519,-0.01767882,-0.02091821,
  1.39180171, 0.01857431, 1.37047722, 0.02435669, 0.00662344,-0.042892  ,
  0.07831151, 0.69166039,-0.07478904,-0.71203104,-0.09499633]

qacc:
[ 2.02961885e+00,-2.41490435e+01, 4.43472629e+01,-4.92144696e+01,
  1.85961013e-01,-3.00134609e+01, 6.39322216e+01,-5.55785676e+01,
 -1.44758422e-01,-1.73339576e+01, 3.55887872e+01,-1.61404147e+01,
 -3.76078504e-01, 5.24622779e-01, 6.03699653e+00,-2.01982805e+01,
  7.68960220e+00, 2.42716980e+00, 1.72569727e+00,-1.95601495e+01,
  3.50762502e+02, 2.82155699e+02]

qfrc_actuator:
[-0.00805079, 0.08264362, 0.01591784, 0.00456318,-0.00132419, 0.07736334,
  0.01054684, 0.0027218 ,-0.00195992, 0.05298805, 0.00722428, 0.00125081,
  0.        ,-0.00142511, 0.        ,-0.00064661, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.20284181,  8.55218969,  1.20284181, 56.41966748,
       -6.72058946,  8.55218969, -6.72058946,  9.58159595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003835330794698201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89472560e-14, -2.89472560e-14,  1.00000000e+00,  8.37943631e-28,
        1.00000000e+00,  2.89472560e-14, -1.00000000e+00,  0.00000000e+00,
        2.89472560e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04835163, -0.05851873,  0.0616563 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31306015e-04,-3.47460169e-03,-1.10927274e-03,-2.84200663e-04,
  2.84544993e-05,-3.09413571e-03,-7.92284276e-04,-1.94674880e-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,
  2.61147846e-03, 8.41822656e-04,-4.90483519e+00,-7.22114446e-04,
  3.07616261e-02, 7.25541399e-03]


--- Step 2008 ---
qpos:
[ 0.00751442, 0.81271162,-0.03062171,-0.00245764,-0.00164071, 0.81394077,
 -0.02888295, 0.00203744,-0.00165769, 0.84616442,-0.01769912,-0.02092179,
  1.39186843, 0.0185742 , 1.37056664, 0.02435938, 0.00664527,-0.0429062 ,
  0.07809276, 0.69206535,-0.07531226,-0.71160525,-0.0948239 ]

qacc:
[ 2.24660007e+00,-2.54962714e+01, 5.07602457e+01,-5.66381448e+01,
  9.85847921e-02,-2.67707625e+01, 5.71929259e+01,-5.66245239e+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,
  6.57619868e+00, 2.08592123e+00, 2.66645679e-01,-1.71071681e+01,
  3.05135473e+02, 2.45311646e+02]

qfrc_actuator:
[-0.00782836, 0.08154553, 0.01578074, 0.0044885 ,-0.00132225, 0.07636504,
  0.01050099, 0.00267638,-0.00195244, 0.05242111, 0.00715688, 0.00132745,
  0.        ,-0.00137853, 0.        ,-0.0007961 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.86462195,  8.59297421, -0.86462195, 49.57701887,
        4.11943387,  8.59297421,  4.11943387,  9.05085958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040607842465309185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.73401136e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.73401136e-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([-0.04761529, -0.05833118,  0.0616362 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67789653e-04,-3.31300775e-03,-1.01247417e-03,-2.69696941e-04,
  1.43160461e-05,-2.92786386e-03,-7.98687434e-04,-2.11038951e-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,
  1.69735828e-04,-1.91919670e-05,-4.90505922e+00,-8.00580799e-04,
  3.08090975e-02, 7.22489372e-03]


--- Step 2009 ---
qpos:
[ 0.00731374, 0.81384074,-0.03045773,-0.00239586,-0.00166723, 0.81496012,
 -0.02882401, 0.00206307,-0.00164976, 0.84668191,-0.01772028,-0.02092547,
  1.39193534, 0.01857391, 1.37065567, 0.02436292, 0.00668957,-0.04291323,
  0.07786986, 0.69288614,-0.07610946,-0.71077538,-0.09441668]

qacc:
[ 2.28455032e+00,-2.07596767e+01, 3.19889583e+01,-2.19382605e+01,
  1.23743916e-02,-2.72659477e+01, 5.48451550e+01,-3.61589283e+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,
  5.61664065e+00, 1.79072369e+00,-1.03523096e+00,-1.47665601e+01,
  2.65945509e+02, 2.13659227e+02]

qfrc_actuator:
[-0.00761541, 0.08045816, 0.01559795, 0.00445521,-0.00132833, 0.07538072,
  0.01052178, 0.00269282,-0.00195111, 0.05182285, 0.00710756, 0.00132067,
  0.        ,-0.00140421, 0.        ,-0.00074312, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.3811127 ,  8.30163111, -2.3811127 , 38.13462784,
        8.46083025,  8.30163111,  8.46083025, 11.06313858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041764764478785035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65827675e-14, -2.65827675e-14,  1.00000000e+00,  7.06643529e-28,
        1.00000000e+00,  2.65827675e-14, -1.00000000e+00,  0.00000000e+00,
        2.65827675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04716832, -0.05821754,  0.06162396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75058699e-04,-3.19064193e-03,-1.01211450e-03,-2.17712485e-04,
 -4.60612907e-08,-2.82231970e-03,-6.98854284e-04,-1.42548196e-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,
  1.53314764e-03, 8.48810034e-04,-4.90535172e+00,-7.10857934e-04,
  3.08666196e-02, 7.18726941e-03]


--- Step 2010 ---
qpos:
[ 0.00711713, 0.81494625,-0.03029872,-0.00233568,-0.00169347, 0.81595809,
 -0.02876597, 0.00208827,-0.00164184, 0.8471877 ,-0.01774114,-0.02093068,
  1.39200235, 0.01857341, 1.3707446 , 0.0243667 , 0.006753  ,-0.04291414,
  0.0776382 , 0.69406795,-0.07714487,-0.70959083,-0.0938041 ]

qacc:
[ 2.25598990e+00,-2.05853814e+01, 3.48745474e+01,-3.72260812e+01,
  1.58204585e-01,-2.65986907e+01, 5.56230946e+01,-4.57828111e+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,
  4.78469144e+00, 1.53348400e+00,-2.19155303e+00,-1.25553255e+01,
  2.32122977e+02, 1.86344528e+02]

qfrc_actuator:
[-0.00740984, 0.07929734, 0.01535432, 0.00437552,-0.00130362, 0.07436001,
  0.01049323, 0.00267462,-0.00195348, 0.0512817 , 0.00714022, 0.00124712,
  0.        ,-0.0014194 , 0.        ,-0.00073102, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.3342913 ,  7.96676084, -3.3342913 , 28.28771417,
        8.22458819,  7.96676084,  8.22458819, 12.07856222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004201479205041367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64245750e-14, -1.32122875e-14,  1.00000000e+00,  3.49129083e-28,
        1.00000000e+00,  1.32122875e-14, -1.00000000e+00,  0.00000000e+00,
        2.64245750e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0469534 , -0.05816283,  0.06161803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71274168e-04,-3.19270504e-03,-1.04558508e-03,-2.57795200e-04,
  2.42681576e-05,-2.77556413e-03,-7.11531429e-04,-1.67844092e-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,
  5.36706100e-03, 2.82544470e-03,-4.90569969e+00,-5.07552847e-04,
  3.09288435e-02, 7.14588390e-03]


--- Step 2011 ---
qpos:
[ 0.00692451, 0.81602787,-0.03014379,-0.00227733,-0.00171873, 0.8169351 ,
 -0.02871015, 0.00211203,-0.00163396, 0.84768286,-0.01776242,-0.0209358 ,
  1.39206934, 0.01857299, 1.3708339 , 0.02436723, 0.00683722,-0.04290133,
  0.07741228, 0.69561366,-0.07855486,-0.70804342,-0.09287238]

qacc:
[ 2.20681074e+00,-2.39434039e+01, 4.73614395e+01,-5.51457707e+01,
  5.45801890e-01,-2.44698024e+01, 5.32142926e+01,-5.93979501e+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,
  5.19476251e+00, 3.42735196e+00, 1.43480873e+00,-1.97369027e+01,
  2.25153889e+02, 2.74717918e+02]

qfrc_actuator:
[-0.0072103 , 0.07813731, 0.01516528, 0.00428684,-0.00122521, 0.07332572,
  0.01038241, 0.00260061,-0.00195807, 0.05083272, 0.00715022, 0.00125926,
  0.        ,-0.00141044, 0.        ,-0.00090293, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63035558, -0.32208594,  8.63035558,  8.7297603 ,
        2.50258186, -0.32208594,  2.50258186, 75.69353258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00422030386043433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57667707e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.57667707e-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([-0.02565406, -0.06205362,  0.06161216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63820246e-04,-3.20103591e-03,-9.96688957e-04,-2.68761913e-04,
  8.89920740e-05,-2.76611600e-03,-7.86383229e-04,-2.22541269e-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,
  1.07254679e-02, 5.47233256e-03,-4.90610996e+00,-2.29706724e-04,
  3.09916283e-02, 7.10319312e-03]


--- Step 2012 ---
qpos:
[ 0.00673559, 0.81708596,-0.02999226,-0.00221995,-0.00174313, 0.81789121,
 -0.02865609, 0.00213499,-0.00162653, 0.84816735,-0.01778338,-0.02094011,
  1.3921364 , 0.01857242, 1.37092331, 0.0243647 , 0.00693903,-0.04287689,
  0.07718606, 0.69747425,-0.08029104,-0.70617394,-0.0916591 ]

qacc:
[ 2.04577682e+00,-2.35233466e+01, 4.27900354e+01,-3.66258735e+01,
  4.83566749e-01,-2.42973387e+01, 4.99243425e+01,-4.55276073e+01,
 -2.34538376e-01,-1.33428865e+01, 2.37023648e+01,-2.37870888e+00,
 -1.20010202e-01, 5.21402121e-02, 9.45809309e+00,-3.28115383e+01,
  4.40058129e+00, 2.90823532e+00,-7.57080137e-02,-1.63667302e+01,
  1.97287426e+02, 2.40676630e+02]

qfrc_actuator:
[-0.00703367, 0.07704072, 0.01502782, 0.0042469 ,-0.0011864 , 0.07232692,
  0.01031267, 0.00256533,-0.00199946, 0.05033615, 0.00718275, 0.00130404,
  0.        ,-0.00142269, 0.        ,-0.0010576 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.89963534,  6.3072244 , -5.89963534, 18.45575894,
        9.18484072,  6.3072244 ,  9.18484072, 17.22765633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004182333455573728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.32727703e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.32727703e-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([-0.02561506, -0.06204225,  0.06161038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37813759e-04,-3.13196636e-03,-9.40927614e-04,-2.18845325e-04,
  7.87395186e-05,-2.74257274e-03,-7.54268710e-04,-1.87028181e-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,
  1.84277700e-02, 1.04003930e-02,-4.90696367e+00, 2.19942574e-04,
  3.11024764e-02, 7.04726934e-03]


--- Step 2013 ---
qpos:
[ 0.00655047, 0.81812162,-0.02984437,-0.00216366,-0.00176697, 0.81882676,
 -0.02860373, 0.00215795,-0.00161959, 0.84864183,-0.01780467,-0.02094529,
  1.39220355, 0.01857148, 1.37101217, 0.02436365, 0.00705569,-0.04283005,
  0.07700409, 0.69960391,-0.08249179,-0.70402062,-0.0900247 ]

qacc:
[ 2.09452908e+00,-2.17293509e+01, 3.91205023e+01,-3.58386747e+01,
  3.10992284e-01,-2.23758958e+01, 4.03469325e+01,-2.24265557e+01,
 -2.58317016e-01,-1.40880035e+01, 3.47073425e+01,-4.18373993e+01,
  4.52252309e-01,-6.65876245e-01,-5.36090163e+00, 1.74494201e+01,
  3.71103707e+00, 5.59820365e+00, 1.10638415e+01,-1.55247221e+01,
  1.55796928e+02, 3.34622101e+02]

qfrc_actuator:
[-0.00683659, 0.07602691, 0.01488679, 0.00420056,-0.00117162, 0.07135773,
  0.01025026, 0.00257096,-0.00202699, 0.04986856, 0.00717494, 0.00126113,
  0.        ,-0.00144748, 0.        ,-0.00097002, 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: -0.004159593686230027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33453302e-14,  1.33453302e-14,  1.00000000e+00, -1.78097838e-28,
        1.00000000e+00, -1.33453302e-14, -1.00000000e+00,  0.00000000e+00,
        1.33453302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00085287, -0.05689755,  0.06160727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.46776105e-04,-2.99626459e-03,-9.21408183e-04,-2.19341898e-04,
  5.00968368e-05,-2.69106756e-03,-7.36685365e-04,-1.43264327e-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,
  2.68826748e-02, 1.59646592e-02,-4.90799209e+00, 7.36165214e-04,
  3.12129186e-02, 6.99043637e-03]


--- Step 2014 ---
qpos:
[ 0.0063691 , 0.81913486,-0.02969964,-0.00210844,-0.00179018, 0.81974236,
 -0.02855361, 0.00218073,-0.00161269, 0.84910643,-0.01782556,-0.02095067,
  1.39227079, 0.01857002, 1.37110076, 0.02436427, 0.0071771 ,-0.04275737,
  0.07687036, 0.70178142,-0.08516761,-0.70179811,-0.08791323]

qacc:
[ 2.07427709e+00,-2.29719861e+01, 4.34233270e+01,-4.03721012e+01,
  3.58056649e-01,-2.05061823e+01, 3.56558600e+01,-2.06732941e+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,
  1.18650158e+00, 6.46324763e+00, 1.20617061e+01, 6.12323994e-01,
 -1.62948854e-02, 3.39123122e+02]

qfrc_actuator:
[-0.00664657, 0.0749468 , 0.01474519, 0.00415089,-0.0011358 , 0.07041434,
  0.01015739, 0.00256515,-0.00201049, 0.04942197, 0.00721448, 0.00125573,
  0.        ,-0.00147951, 0.        ,-0.00088245, 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: -0.004233067312125714
  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([ 0.01009479, -0.05826193,  0.06159746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44060048e-04,-2.98205730e-03,-8.91333756e-04,-2.16138595e-04,
  5.81833437e-05,-2.63041911e-03,-7.52633897e-04,-1.51000678e-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,
  3.61539557e-02, 2.45799388e-02,-4.90969291e+00, 1.43291249e-03,
  3.13719779e-02, 6.93300248e-03]


--- Step 2015 ---
qpos:
[ 0.00619142, 0.82012625,-0.02955826,-0.00205365,-0.00181276, 0.82063863,
 -0.02850523, 0.00220243,-0.00160554, 0.84956114,-0.01784572,-0.02095508,
  1.39233797, 0.0185684 , 1.37118971, 0.02436258, 0.00726859,-0.04266607,
  0.07676524, 0.70327984,-0.08802529,-0.70023896,-0.08552431]

qacc:
[ 2.02959329e+00,-2.03702938e+01, 3.25904706e+01,-1.87177623e+01,
  3.47047152e-01,-2.28526345e+01, 4.90239306e+01,-5.08155567e+01,
  1.39007850e-01,-1.31300106e+01, 2.37495377e+01,-8.23269694e-01,
 -1.79968679e-01, 7.78811570e-02, 7.58714953e+00,-2.57108180e+01,
 -7.48074316e+00, 4.65147768e+00, 7.15021987e+00, 3.37845571e+01,
 -4.90865308e+02, 1.03063038e+02]

qfrc_actuator:
[-0.00646227, 0.07392465, 0.01460423, 0.00413515,-0.00110541, 0.06952954,
  0.0101007 , 0.00251715,-0.00198556, 0.04895636, 0.00726408, 0.00130803,
  0.        ,-0.00148007, 0.        ,-0.00100868, 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: -0.004406047748180354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.1023997e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.1023997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04450567, -0.05656149,  0.0615809 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37358917e-04,-2.90919989e-03,-8.83714032e-04,-1.80460125e-04,
  5.64609173e-05,-2.54099008e-03,-7.05960942e-04,-1.91247641e-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,
  3.96611328e-02, 3.29963231e-02,-4.91149610e+00, 2.02847398e-03,
  3.15003759e-02, 6.92092156e-03]


--- Step 2016 ---
qpos:
[ 0.00601733, 0.82109668,-0.02942014,-0.00199826,-0.00183477, 0.82151588,
 -0.02845779, 0.00222325,-0.00159814, 0.85000662,-0.0178663 ,-0.02095885,
  1.392405  , 0.01856697, 1.37127857, 0.0243604 , 0.00732366,-0.042581  ,
  0.07668595, 0.70404256,-0.09046497,-0.69940149,-0.08353273]

qacc:
[ 1.97957042e+00,-1.73434120e+01, 1.90918807e+01, 1.19951546e+01,
  3.21586954e-01,-2.43090339e+01, 5.39075247e+01,-5.35764257e+01,
  1.39005700e-01,-9.68453371e+00, 1.41138189e+01, 4.47556614e+00,
 -2.62414059e-01, 3.46266659e-01, 1.33965758e+00,-4.81360199e+00,
 -9.10343785e+00,-1.55483483e+00, 6.45682153e+00, 6.35032420e+00,
 -4.75998849e+02,-3.49287093e+02]

qfrc_actuator:
[-0.00628282, 0.07298117, 0.01448288, 0.00417507,-0.00107851, 0.06865174,
  0.0100839 , 0.00248033,-0.00197362, 0.04851879, 0.00724819, 0.00134058,
  0.        ,-0.00146192, 0.        ,-0.00102909, 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: -0.004731579591792219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.86602742e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.86602742e-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([ 0.04898612, -0.03607596,  0.06155392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29711465e-04,-2.78609552e-03,-8.46677311e-04,-1.20684972e-04,
  5.22220992e-05,-2.47554231e-03,-6.43069344e-04,-1.75377278e-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,
  2.18178574e-02, 2.78729918e-02,-4.91128873e+00, 1.56365977e-03,
  3.14287243e-02, 7.03393975e-03]


--- Step 2017 ---
qpos:
[ 0.00584676, 0.82204667,-0.02928536,-0.00194258,-0.00185625, 0.82237379,
 -0.02841157, 0.00224419,-0.00159094, 0.85044287,-0.01788676,-0.02096225,
  1.39247186, 0.01856597, 1.37136705, 0.02436032, 0.00734763,-0.04250146,
  0.07662433, 0.7041752 ,-0.09255426,-0.69918962,-0.08188328]

qacc:
[ 1.93055884e+00,-1.70596444e+01, 2.04323741e+01, 4.93297531e+00,
  2.96138931e-01,-2.18816891e+01, 4.04399938e+01,-2.22336874e+01,
 -1.04655759e-01,-1.17803107e+01, 2.27692695e+01,-9.85288913e+00,
 -1.90348310e-01, 4.10313489e-01,-6.88125166e+00, 2.33071403e+01,
 -7.77334581e+00,-1.38256650e+00, 4.41888990e+00, 1.33001893e+00,
 -4.10450336e+02,-2.97593021e+02]

qfrc_actuator:
[-0.00610768, 0.07202174, 0.01433902, 0.00419425,-0.00105392, 0.06767906,
  0.01001989, 0.00248594,-0.00200507, 0.0480836 , 0.00726491, 0.00136124,
  0.        ,-0.00143281, 0.        ,-0.00091591, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48357049, -1.61734615, -8.48357049,  9.41319796,
       -4.07477937, -1.61734615, -4.07477937, 30.01006769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0050172044034887675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10668610e-14, -1.10641598e-14,  1.00000000e+00,  1.22445519e-28,
        1.00000000e+00,  1.10641598e-14, -1.00000000e+00,  0.00000000e+00,
        1.10668610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04848269, -0.03620473,  0.06153114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22188658e-04,-2.72243523e-03,-8.36916830e-04,-1.33659922e-04,
  4.80270680e-05,-2.51965976e-03,-6.68283329e-04,-1.27623237e-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,
  7.52415860e-03, 1.38442856e-02,-4.90972857e+00, 8.33246612e-04,
  3.12975837e-02, 7.11176896e-03]


--- Step 2018 ---
qpos:
[ 0.00568   , 0.82297602,-0.02915366,-0.00188885,-0.00187724, 0.8232133 ,
 -0.028367  , 0.00226422,-0.00158424, 0.85086983,-0.01790609,-0.02096545,
  1.39253872, 0.01856506, 1.37145551, 0.02436089, 0.00734495,-0.04242686,
  0.07657309, 0.70376426,-0.09434795,-0.6995208 ,-0.0805293 ]

qacc:
[ 2.09601141e+00,-2.26965034e+01, 4.95969866e+01,-6.33744817e+01,
  2.74203398e-01,-2.15481196e+01, 4.53914403e+01,-4.49508475e+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,
 -6.66452574e+00,-1.23541728e+00, 2.59559460e+00,-2.13921592e+00,
 -3.55463166e+02,-2.54755364e+02]

qfrc_actuator:
[-0.00590097, 0.07098958, 0.01418304, 0.00409454,-0.00103089, 0.06683491,
  0.00996374, 0.00244535,-0.00204446, 0.04765352, 0.0073363 , 0.00137477,
  0.        ,-0.00143296, 0.        ,-0.00088473, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.46248752, -1.7242627 , -8.46248752,  9.64906151,
       -4.97020731, -1.7242627 , -4.97020731, 33.02958239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005180464553794867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33943468e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33943468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04819606, -0.03628417,  0.06151802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50567835e-04,-2.75755156e-03,-8.34928855e-04,-2.49691028e-04,
  4.45679333e-05,-2.41844935e-03,-6.70822983e-04,-1.75617322e-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,
  1.37147227e-03, 4.29105780e-03,-4.90867281e+00, 4.29617577e-04,
  3.12022275e-02, 7.17617611e-03]


--- Step 2019 ---
qpos:
[ 0.0055172 , 0.82388434,-0.02902431,-0.00183678,-0.00189757, 0.82403568,
 -0.02832429, 0.00228308,-0.00157786, 0.85128752,-0.01792442,-0.02096916,
  1.39260588, 0.01856346, 1.37154464, 0.02435648, 0.00731934,-0.04235668,
  0.07652577, 0.70288129,-0.09589085,-0.70032388,-0.07943107]

qacc:
[ 2.16787579e+00,-2.45650936e+01, 5.42574840e+01,-6.36073755e+01,
  3.62414315e-01,-1.98178851e+01, 4.27778022e+01,-4.74687138e+01,
 -1.62942635e-01,-1.60828237e+01, 4.17529758e+01,-4.54199936e+01,
  1.81668866e-01,-5.33100799e-01, 1.60657811e+01,-5.48234491e+01,
 -5.73312128e+00,-1.10683936e+00, 9.78835921e-01,-4.46588488e+00,
 -3.08987098e+02,-2.18975177e+02]

qfrc_actuator:
[-0.00569478, 0.06995767, 0.01407412, 0.0040144 ,-0.00099121, 0.06609241,
  0.0099132 , 0.00239578,-0.00205271, 0.04719476, 0.00738619, 0.00134855,
  0.        ,-0.001486  , 0.        ,-0.00115069, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.43748911, -1.84270301, -8.43748911,  9.95051805,
       -6.01733619, -1.84270301, -6.01733619, 36.18893629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0052431490500519096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65201175e-15, -1.05873685e-14,  1.00000000e+00,  2.80778257e-29,
        1.00000000e+00,  1.05873685e-14, -1.00000000e+00,  0.00000000e+00,
        2.65201175e-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([ 0.04808023, -0.03632572,  0.06151253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63185712e-04,-2.78092692e-03,-7.98685380e-04,-2.33779249e-04,
  5.96678289e-05,-2.26227739e-03,-6.46092086e-04,-1.81254631e-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,
  6.36546039e-04,-2.14006972e-03,-4.90801825e+00, 2.46339732e-04,
  3.11288878e-02, 7.23399667e-03]


--- Step 2020 ---
qpos:
[ 0.005358  , 0.82477319,-0.02889789,-0.00178626,-0.00191746, 0.82484111,
 -0.02828326, 0.00230217,-0.00157188, 0.85169639,-0.0179425 ,-0.02097318,
  1.39267309, 0.01856151, 1.37163384, 0.02434861, 0.00727371,-0.0423023 ,
  0.07648429, 0.70166202,-0.09696415,-0.70146702,-0.07881864]

qacc:
[ 1.97595090e+00,-2.07786212e+01, 4.33489550e+01,-5.14166025e+01,
  2.49812985e-01,-1.72409275e+01, 2.79843319e+01,-8.85296971e+00,
 -2.11116317e-01,-1.29842559e+01, 3.06424822e+01,-2.97721817e+01,
 -6.17529667e-02,-1.24666318e-01, 1.06173851e+01,-3.69510758e+01,
 -5.00350993e+00,-3.94817142e+00, 1.46024692e+00,-7.69683391e+00,
 -1.95325961e+02,-3.64830006e+02]

qfrc_actuator:
[-0.00552606, 0.06911208, 0.0139762 , 0.00394648,-0.00097742, 0.06529273,
  0.00984917, 0.00241245,-0.00207778, 0.04677573, 0.00740511, 0.00133461,
  0.        ,-0.00149901, 0.        ,-0.00132326, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.49883602,  4.28418431, -7.49883602, 15.78485214,
       12.51238022,  4.28418431, 12.51238022, 30.53744926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005279760723292899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05139521e-14,  1.05139521e-14,  1.00000000e+00, -1.10543188e-28,
        1.00000000e+00, -1.05139521e-14, -1.00000000e+00,  0.00000000e+00,
        1.05139521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04001557, -0.02312714,  0.06150918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31681232e-04,-2.59895995e-03,-7.87299977e-04,-2.20961218e-04,
  4.07268779e-05,-2.22680817e-03,-6.24328419e-04,-1.07541457e-04,
 -3.84303573e-05,-1.12743970e-03,-2.54136311e-04,-7.35428631e-05,
 -1.00906140e-05,-2.70166228e-05,-3.01932795e-05,-1.87348943e-04,
  3.44499773e-03,-6.38661785e-03,-4.90764490e+00, 2.10197187e-04,
  3.10693537e-02, 7.28864920e-03]


--- Step 2021 ---
qpos:
[ 0.00520199, 0.82564406,-0.02877429,-0.00173822,-0.00193716, 0.82562943,
 -0.02824317, 0.00232091,-0.00156608, 0.85209656,-0.01795951,-0.02097776,
  1.39274008, 0.01855988, 1.37172239, 0.02434271, 0.0072109 ,-0.0422617 ,
  0.07644271, 0.70014809,-0.0976319 ,-0.70290699,-0.07862842]

qacc:
[ 1.74762732e+00,-2.09288774e+01, 5.06236234e+01,-7.58045726e+01,
  1.06814383e-01,-2.06751600e+01, 4.24381380e+01,-3.45293348e+01,
 -8.90812922e-02,-1.56712891e+01, 4.15904380e+01,-4.67443673e+01,
 -1.34201662e-01, 2.69272107e-01,-6.93365375e+00, 2.28840426e+01,
 -4.29659002e+00,-3.44544914e+00,-2.36000521e-02,-8.38884872e+00,
 -1.71032930e+02,-3.16365587e+02]

qfrc_actuator:
[-0.00538107, 0.06834964, 0.01388638, 0.0038332 ,-0.00097921, 0.06446543,
  0.00981309, 0.00239692,-0.00207722, 0.04638382, 0.0074768 , 0.00131028,
  0.        ,-0.00147033, 0.        ,-0.00120854, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.80224112,  -5.32130554,  -6.80224112,
        23.31013872, -18.7575315 ,  -5.32130554, -18.7575315 ,
        32.61417343,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005267222172389466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05389804e-14,  1.31737255e-14,  1.00000000e+00, -1.38837635e-28,
        1.00000000e+00, -1.31737255e-14, -1.00000000e+00,  0.00000000e+00,
        1.05389804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04003392, -0.02312971,  0.06150956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93833333e-04,-2.41063954e-03,-7.39576149e-04,-2.57840359e-04,
  1.65141765e-05,-2.22649518e-03,-5.83649196e-04,-1.35999805e-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,
  7.88832240e-03,-6.85813933e-03,-4.90692496e+00, 4.23096688e-04,
  3.09587041e-02, 7.32670974e-03]


--- Step 2022 ---
qpos:
[ 0.00504882, 0.82649735,-0.02865326,-0.00169203,-0.00195652, 0.82640042,
 -0.02820355, 0.0023386 ,-0.00155999, 0.85248847,-0.01797601,-0.02098332,
  1.39280688, 0.01855878, 1.3718108 , 0.02433749, 0.00715117,-0.04224444,
  0.07644387, 0.69879236,-0.09781602,-0.70420003,-0.07888966]

qacc:
[ 1.55365366e+00,-1.98365341e+01, 4.47859733e+01,-5.95886472e+01,
  1.96662495e-01,-2.37324620e+01, 5.58464235e+01,-6.05997691e+01,
  1.52924197e-01,-1.43191941e+01, 3.93216614e+01,-5.09191100e+01,
 -4.09719419e-01, 6.98180169e-01,-2.22585008e+00, 7.61000035e+00,
  7.71281121e-01,-5.83355504e+00, 1.06822641e+01, 1.25841298e+01,
  1.48086814e+02,-3.14627225e+02]

qfrc_actuator:
[-0.00525134, 0.06753686, 0.01378475, 0.0037475 ,-0.00095476, 0.06361072,
  0.00979373, 0.00234482,-0.00204359, 0.04599382, 0.00750822, 0.00126234,
  0.        ,-0.0014349 , 0.        ,-0.00117404, 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: -0.005264559710018893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.10886206e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.10886206e-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([ 0.00799389, -0.02553745,  0.0615094 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61511480e-04,-2.34690663e-03,-7.07704704e-04,-2.21214826e-04,
  3.16924846e-05,-2.24609107e-03,-5.62686290e-04,-1.71678066e-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,
  1.33815819e-02,-5.54332175e-03,-4.90641361e+00, 6.85643326e-04,
  3.08575564e-02, 7.36500632e-03]


--- Step 2023 ---
qpos:
[ 0.00489861, 0.82733319,-0.02853504,-0.00164587,-0.00197567, 0.82715449,
 -0.02816452, 0.00235579,-0.00155358, 0.85287189,-0.0179926 ,-0.02098831,
  1.39287352, 0.01855835, 1.37189928, 0.02433171, 0.00709722,-0.04224807,
  0.0764774 , 0.69764339,-0.09756968,-0.70529906,-0.07954308]

qacc:
[ 1.61481767e+00,-1.52809444e+01, 2.11877783e+01,-4.53871195e+00,
  1.19187084e-01,-2.16996611e+01, 4.70183827e+01,-4.21328990e+01,
  1.76655010e-01,-9.82594394e+00, 1.64104477e+01,-3.48846014e-01,
 -5.59267135e-01, 9.40231598e-01, 1.88495689e+00,-6.26619473e+00,
  1.44523626e+00,-5.22552819e+00, 8.09402332e+00, 1.47738151e+01,
  1.76749789e+02,-2.70946687e+02]

qfrc_actuator:
[-0.00509618, 0.06670067, 0.01365915, 0.00374972,-0.00095031, 0.06281765,
  0.0097843 , 0.00232487,-0.00202602, 0.04555476, 0.00749786, 0.00128965,
  0.        ,-0.00139577, 0.        ,-0.00120492, 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: -0.005274876158064823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12557671e-07,  2.46186472e-14,  1.00000000e+00, -2.24659354e-20,
        1.00000000e+00, -2.46186472e-14, -1.00000000e+00,  0.00000000e+00,
        9.12557671e-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([ 0.00421726, -0.02452289,  0.06150925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72336728e-04,-2.32605268e-03,-7.13145823e-04,-1.28719571e-04,
  1.86473179e-05,-2.19215267e-03,-5.55297969e-04,-1.40304073e-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,
  1.15695122e-02,-1.02834346e-03,-4.90552041e+00, 9.68755848e-04,
  3.07530430e-02, 7.31861149e-03]


--- Step 2024 ---
qpos:
[ 0.00475117, 0.82815166,-0.02841978,-0.00159938,-0.00199499, 0.82789243,
 -0.02812647, 0.00237355,-0.00154692, 0.85324604,-0.01800891,-0.02099184,
  1.39294022, 0.01855816, 1.37198757, 0.02432694, 0.00705704,-0.04226946,
  0.07652592, 0.69686573,-0.09697325,-0.70604303,-0.08048342]

qacc:
[ 1.51558508e+00,-1.40025825e+01, 1.52403993e+01, 7.90528710e+00,
 -9.18482789e-02,-1.73921179e+01, 2.87070626e+01,-5.53759045e+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,
  3.44077882e+00,-4.43598608e+00, 3.74712345e+00, 2.49302742e+01,
  2.82712118e+02,-1.91452437e+02]

qfrc_actuator:
[-0.00496253, 0.06585734, 0.01352043, 0.00376811,-0.00097561, 0.06208583,
  0.00976338, 0.00235957,-0.00201824, 0.04505428, 0.00749834, 0.00136096,
  0.        ,-0.00139027, 0.        ,-0.00114979, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6145129 ,  0.61395794, -8.6145129 ,  8.7418994 ,
        1.48078423,  0.61395794,  1.48078423, 29.41341374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0052738827474864275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57885055e-14, -2.63141759e-15,  1.00000000e+00,  4.15461511e-29,
        1.00000000e+00,  2.63141759e-15, -1.00000000e+00,  0.00000000e+00,
        1.57885055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01271507, -0.01999799,  0.06151057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55954938e-04,-2.31822497e-03,-7.19250527e-04,-1.10003708e-04,
 -1.70616722e-05,-2.09743021e-03,-5.53500298e-04,-8.24437241e-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,
  9.05202600e-03, 2.34399652e-03,-4.90489045e+00, 1.09713739e-03,
  3.06810873e-02, 7.27311183e-03]


--- Step 2025 ---
qpos:
[ 0.00460627, 0.82895274,-0.02830747,-0.0015541 ,-0.00201429, 0.82861469,
 -0.02808907, 0.00239113,-0.00154031, 0.85361201,-0.01802613,-0.0209949 ,
  1.39300714, 0.01855763, 1.37207579, 0.02432285, 0.00702895,-0.04230621,
  0.07658255, 0.6964118 ,-0.09606999,-0.70647706,-0.08167823]

qacc:
[ 1.38812946e+00,-1.72045440e+01, 3.31213861e+01,-3.65481014e+01,
  2.19765631e-02,-1.92899837e+01, 3.94642100e+01,-2.99972861e+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,
  3.02482610e+00,-3.84237483e+00, 2.02913909e+00, 2.03041109e+01,
  2.46965926e+02,-1.68927456e+02]

qfrc_actuator:
[-0.00484278, 0.06499887, 0.01337512, 0.0037071 ,-0.0009652 , 0.06136125,
  0.00975395, 0.0023552 ,-0.00203413, 0.04469866, 0.00746948, 0.00138651,
  0.        ,-0.00142255, 0.        ,-0.00111541, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.88041336, -6.32514945,  5.88041336, 33.60642217,
       23.21435515, -6.32514945, 23.21435515, 30.21846304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005237867839054881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05980435e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05980435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01277798, -0.01992327,  0.06151454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34704054e-04,-2.32897368e-03,-7.24157871e-04,-1.88888281e-04,
  2.29203095e-06,-2.03396207e-03,-5.20073847e-04,-1.16244719e-04,
 -4.46234264e-06,-1.07338506e-03,-3.05448702e-04,-3.39265337e-05,
  1.24152491e-05,-2.13898189e-05, 1.95154979e-06, 3.63038053e-05,
  4.75214453e-03, 3.62795234e-03,-4.90451302e+00, 1.01965720e-03,
  3.06584470e-02, 7.21641598e-03]


--- Step 2026 ---
qpos:
[ 0.0044639 , 0.82973706,-0.02819827,-0.00150966,-0.00203304, 0.82932154,
 -0.02805234, 0.00240847,-0.00153384, 0.85397085,-0.01804333,-0.02099888,
  1.39307424, 0.01855655, 1.37216366, 0.02432187, 0.00701156,-0.04235636,
  0.07664138, 0.69624077,-0.09489659,-0.70663846,-0.08309948]

qacc:
[ 1.37927081e+00,-1.51664746e+01, 2.54682128e+01,-2.26513745e+01,
  3.03129523e-01,-1.89439276e+01, 3.90622670e+01,-3.09517697e+01,
 -7.25241403e-02,-1.13639323e+01, 3.06952321e+01,-4.13212237e+01,
  7.57568661e-01,-1.07497975e+00,-1.00648616e+01, 3.42161454e+01,
  2.67221062e+00,-3.35004095e+00, 5.47558941e-01, 1.65293550e+01,
  2.16772610e+02,-1.49626425e+02]

qfrc_actuator:
[-0.00471449, 0.06422705, 0.01324478, 0.00367086,-0.00091574, 0.06062925,
  0.00973372, 0.00234565,-0.00204629, 0.04445032, 0.00751285, 0.00134954,
  0.        ,-0.00145926, 0.        ,-0.00095153, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.32798017, -6.79701436,  5.32798017, 39.78051162,
       24.41298399, -6.79701436, 24.41298399, 27.77298563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00514456210370199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.23707733e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.23707733e-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([-0.01291293, -0.01979073,  0.06152259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33635853e-04,-2.25226729e-03,-7.14568732e-04,-1.66247865e-04,
  5.02205129e-05,-2.00001440e-03,-5.14687746e-04,-1.18177439e-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,
  2.12984611e-03, 3.51068101e-03,-4.90436502e+00, 8.40048612e-04,
  3.06524751e-02, 7.18285957e-03]


--- Step 2027 ---
qpos:
[ 0.00432391, 0.83050533,-0.02809236,-0.00146611,-0.00205095, 0.83001346,
 -0.02801707, 0.00242587,-0.00152771, 0.85432233,-0.01805887,-0.02100336,
  1.39314123, 0.01855553, 1.37225147, 0.0243232 , 0.00700365,-0.04241827,
  0.0766973 , 0.69631759,-0.09348424,-0.70655822,-0.08472303]

qacc:
[ 1.29473509e+00,-1.38420072e+01, 2.23636994e+01,-2.07639600e+01,
  4.61231923e-01,-1.55239388e+01, 2.64636878e+01,-1.20759634e+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,
  2.37213969e+00,-2.93969609e+00,-7.25781535e-01, 1.34258767e+01,
  1.91213063e+02,-1.33085609e+02]

qfrc_actuator:
[-0.00459985, 0.06349579, 0.01310701, 0.00363184,-0.00086115, 0.05991656,
  0.00967179, 0.00235088,-0.00207384, 0.04412656, 0.00761675, 0.00132949,
  0.        ,-0.00144501, 0.        ,-0.00083693, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.82900673, -7.16013064,  4.82900673, 45.15470923,
       24.62906693, -7.16013064, 24.62906693, 25.24694464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005005710029586483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.10895659e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.10895659e-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([-0.01310437, -0.01961241,  0.06153387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19663120e-04,-2.16540562e-03,-7.04020236e-04,-1.64934619e-04,
  7.73850268e-05,-1.96029169e-03,-5.48634671e-04,-1.01760676e-04,
 -3.33391668e-05,-8.97110910e-04,-1.19520575e-04,-6.94878575e-05,
 -8.19733799e-06, 1.33241320e-06, 1.91843562e-05, 1.24074641e-04,
  6.92668726e-04, 2.44807445e-03,-4.90436475e+00, 5.87425800e-04,
  3.06564606e-02, 7.16512216e-03]


--- Step 2028 ---
qpos:
[ 0.00418632, 0.83125753,-0.02798917,-0.00142377,-0.00206824, 0.83069108,
 -0.02798354, 0.00244276,-0.00152213, 0.85466668,-0.01807344,-0.0210077 ,
  1.39320824, 0.01855437, 1.37233992, 0.02432121, 0.0070042 ,-0.04249056,
  0.07674596, 0.69661217,-0.09185948,-0.70626214,-0.08652812]

qacc:
[ 1.30749404e+00,-1.61356270e+01, 3.18457209e+01,-3.67454563e+01,
  3.40469998e-01,-1.50305904e+01, 2.83219705e+01,-2.37543026e+01,
 -2.84247739e-01,-1.18100780e+01, 2.78024626e+01,-2.15375901e+01,
 -2.26400632e-01, 1.61990090e-01, 1.10007540e+01,-3.70303431e+01,
  2.11593543e+00,-2.59600450e+00,-1.81621962e+00, 1.08540034e+01,
  1.69566230e+02,-1.18934055e+02]

qfrc_actuator:
[-0.00447649, 0.06272384, 0.01298396, 0.00357379,-0.00083949, 0.05925664,
  0.00960364, 0.00232928,-0.00211036, 0.04377837, 0.00766655, 0.00133732,
  0.        ,-0.00145384, 0.        ,-0.00101862, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.52459104, -7.35627982,  4.52459104, 48.66368765,
       24.61941038, -7.35627982, 24.61941038, 23.77890394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004831285572284537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14899338e-14, -2.29798675e-14,  1.00000000e+00,  2.64037156e-28,
        1.00000000e+00,  2.29798675e-14, -1.00000000e+00,  0.00000000e+00,
        1.14899338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01333982, -0.01939805,  0.06154764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22105316e-04,-2.15485040e-03,-6.69854785e-04,-1.79819539e-04,
  5.69645497e-05,-1.89121506e-03,-5.50124978e-04,-1.27733142e-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,
  9.06819835e-05, 7.61170194e-04,-4.90446327e+00, 2.82598382e-04,
  3.06657872e-02, 7.15812235e-03]


--- Step 2029 ---
qpos:
[ 4.05157144e-03, 8.31993628e-01,-2.78881651e-02,-1.38287363e-03,
 -2.08503393e-03, 8.31354983e-01,-2.79519310e-02, 2.46021568e-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,
  7.01234616e-03,-4.25720799e-02, 7.67836295e-02, 6.97098726e-01,
 -9.00448298e-02,-7.05771617e-01,-8.84970072e-02]

qacc:
[   1.54569385, -18.11496328,  39.78479971, -49.29768015,   0.2725491 ,
  -11.63732387,  12.81324063,  10.01787285,  -0.16282259,  -8.76725501,
   16.2518094 ,  -3.5992293 ,   0.15247588,  -0.46745953,  11.93342021,
  -41.13234424,   1.89651057,  -2.30670581,  -2.74652316,   8.70416488,
  151.2544004 ,-106.86758999]

qfrc_actuator:
[-0.00431337, 0.06195169, 0.01288824, 0.003505  ,-0.00081994, 0.05863371,
  0.00953264, 0.00236311,-0.00211642, 0.04345376, 0.00768394, 0.00136141,
  0.        ,-0.0014941 , 0.        ,-0.00121361, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.55388141, -7.33818376,  4.55388141, 49.44136626,
       25.32249789, -7.33818376, 25.32249789, 24.35083143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004629748195515579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19901016e-14, -3.59703048e-14,  1.00000000e+00,  4.31287609e-28,
        1.00000000e+00,  3.59703048e-14, -1.00000000e+00,  0.00000000e+00,
        1.19901016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01360916, -0.01915567,  0.06156334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63114411e-04,-2.14230506e-03,-6.36489210e-04,-1.89178426e-04,
  4.54868090e-05,-1.81663097e-03,-5.39660055e-04,-6.98581969e-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,
  7.48958425e-05,-1.32559686e-03,-4.90463137e+00,-5.96418802e-05,
  3.06772591e-02, 7.15830977e-03]


--- Step 2030 ---
qpos:
[ 3.91972721e-03, 8.32713445e-01,-2.77891971e-02,-1.34278458e-03,
 -2.10121445e-03, 8.32005533e-01,-2.79218115e-02, 2.47749230e-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,
  7.02617773e-03,-4.26638550e-02, 7.68154139e-02, 6.97735209e-01,
 -8.80097916e-02,-7.05123689e-01,-9.06666271e-02]

qacc:
[   1.57850751, -17.47280887,  34.51075928, -33.33094371,   0.33707637,
  -13.82087535,  24.43906495, -15.32369862,  -0.20255364,  -6.34791759,
   10.57096799,  -5.14122314,  -0.73207824,   0.9977907 ,   8.04686303,
  -27.97096895,   1.42241929,  -2.56372239,  -1.4717894 ,   5.76473783,
  126.56030911,-134.01852803]

qfrc_actuator:
[-0.00416331, 0.06115036, 0.01279171, 0.00346599,-0.00078404, 0.05802039,
  0.00947854, 0.00235835,-0.00213974, 0.0431458 , 0.00764668, 0.00135938,
  0.        ,-0.00144619, 0.        ,-0.00134377, 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: -0.00442621532929037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25414484e-14,  1.25414484e-14,  1.00000000e+00, -1.57287928e-28,
        1.00000000e+00, -1.25414484e-14, -1.00000000e+00,  0.00000000e+00,
        1.25414484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00355027, -0.02167448,  0.06157914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69068832e-04,-2.15755220e-03,-6.30763050e-04,-1.57869977e-04,
  5.65886556e-05,-1.76032081e-03,-5.03929566e-04,-1.03754966e-04,
 -3.67868120e-05,-8.37594034e-04,-2.41707670e-04,-4.63385390e-05,
 -1.32964673e-05, 3.35100423e-05,-3.08584997e-05,-1.43670022e-04,
  4.68526096e-04,-3.65747584e-03,-4.90485178e+00,-4.28901972e-04,
  3.06886466e-02, 7.16318968e-03]


--- Step 2031 ---
qpos:
[ 3.79052772e-03, 8.33417214e-01,-2.76916021e-02,-1.30288835e-03,
 -2.11681472e-03, 8.32642674e-01,-2.78921083e-02, 2.49276009e-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,
  7.05092961e-03,-4.27512755e-02, 7.68811478e-02, 6.98589322e-01,
 -8.61249390e-02,-7.04246431e-01,-9.26953043e-02]

qacc:
[ 1.43732175e+00,-1.77532751e+01, 3.33524750e+01,-2.27161462e+01,
  3.19107039e-01,-2.06722104e+01, 5.64907044e+01,-8.07558599e+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,
  2.73007501e+00, 1.08865525e+00, 8.48738692e+00,-3.52345823e+00,
  1.43723133e+02, 1.22077917e+02]

qfrc_actuator:
[-0.00404003, 0.06040916, 0.01274869, 0.00346253,-0.0007564 , 0.05738243,
  0.00947044, 0.00225992,-0.00215544, 0.04283236, 0.00755978, 0.00137749,
  0.        ,-0.00145276, 0.        ,-0.00138141, 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: -0.004386430233157532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26551999e-14, -2.53103997e-14,  1.00000000e+00,  3.20308167e-28,
        1.00000000e+00,  2.53103997e-14, -1.00000000e+00,  0.00000000e+00,
        1.26551999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0010586 , -0.04626567,  0.06158261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45164220e-04,-2.10299940e-03,-5.78462717e-04,-1.22120967e-04,
  5.34700874e-05,-1.74718341e-03,-4.42951080e-04,-1.94401586e-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,
  1.01248009e-03,-5.92262829e-03,-4.90511658e+00,-8.29966018e-04,
  3.06929599e-02, 7.17088540e-03]


--- Step 2032 ---
qpos:
[ 3.66424437e-03, 8.34106310e-01,-2.75962426e-02,-1.26487090e-03,
 -2.13209693e-03, 8.33266038e-01,-2.78619129e-02, 2.50738276e-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,
  7.08545109e-03,-4.28349000e-02, 7.69728288e-02, 6.99637910e-01,
 -8.43724896e-02,-7.03163411e-01,-9.46007171e-02]

qacc:
[ 1.58189460e+00,-1.70002874e+01, 4.04165363e+01,-5.85843682e+01,
  1.77811814e-01,-2.08912731e+01, 5.08062468e+01,-5.26517333e+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,
  2.44240113e+00, 9.48997548e-01, 6.48677610e+00,-4.00544438e+00,
  1.28906326e+02, 1.07552059e+02]

qfrc_actuator:
[-0.00388046, 0.05976357, 0.01266691, 0.0033736 ,-0.00075168, 0.05671734,
  0.0095072 , 0.00223147,-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: -0.004330518170145473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.28185933e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.28185933e-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([ 0.0010149 , -0.04627486,  0.06158789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70576811e-04,-1.96413587e-03,-5.98125440e-04,-2.02720290e-04,
  2.91356724e-05,-1.75791202e-03,-3.90872884e-04,-1.23492288e-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,
  2.60540055e-03,-8.74608047e-03,-4.90509440e+00,-1.11284052e-03,
  3.06903699e-02, 7.17029827e-03]


--- Step 2033 ---
qpos:
[ 3.54084117e-03, 8.34780697e-01,-2.75033788e-02,-1.22821880e-03,
 -2.14713864e-03, 8.33876258e-01,-2.78319076e-02, 2.52252997e-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,
  7.11661115e-03,-4.28992081e-02, 7.70886381e-02, 7.00544093e-01,
 -8.30416147e-02,-7.02221967e-01,-9.60540104e-02]

qacc:
[ 1.56117719e+00,-1.52646811e+01, 3.19918775e+01,-4.08300966e+01,
  1.35083402e-01,-1.57418577e+01, 2.87234857e+01,-9.69552903e+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,
 -8.40355347e-01, 4.82911666e+00, 6.03206770e+00, 1.21713150e+01,
 -1.38607101e+02, 2.93670516e+02]

qfrc_actuator:
[-0.00373596, 0.05903837, 0.01254553, 0.00330617,-0.00074292, 0.05611271,
  0.00951688, 0.00226219,-0.00213596, 0.04212123, 0.00762329, 0.00137272,
  0.        ,-0.00146084, 0.        ,-0.0011804 , 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: -0.004353694461974596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27503553e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.27503553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02013783, -0.06209547,  0.06158763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67392113e-04,-1.97321737e-03,-6.14111765e-04,-1.77501366e-04,
  2.19570052e-05,-1.68930980e-03,-4.11182405e-04,-6.15687387e-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,
  4.65173636e-03,-1.09849822e-02,-4.90512869e+00,-1.35190416e-03,
  3.06853164e-02, 7.16818359e-03]


--- Step 2034 ---
qpos:
[ 3.42000198e-03, 8.35440102e-01,-2.74125014e-02,-1.19199441e-03,
 -2.16195002e-03, 8.34473666e-01,-2.78025167e-02, 2.53754757e-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,
  7.14472818e-03,-4.29464310e-02, 7.72214720e-02, 7.01327358e-01,
 -8.20836358e-02,-7.01407380e-01,-9.71076759e-02]

qacc:
[ 1.38979123e+00,-1.51176933e+01, 2.69876344e+01,-2.02140372e+01,
  1.29042167e-01,-1.54678102e+01, 3.11398174e+01,-2.29963319e+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,
 -7.60757273e-01, 4.27127536e+00, 4.25614736e+00, 1.06875666e+01,
 -1.22095308e+02, 2.59736081e+02]

qfrc_actuator:
[-0.00361937, 0.05830682, 0.01245481, 0.00328737,-0.00073179, 0.05549598,
  0.00949305, 0.0022565 ,-0.00215857, 0.04186627, 0.00769002, 0.00133612,
  0.        ,-0.00147742, 0.        ,-0.00095611, 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: -0.00437124018689504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26991766e-14, -1.90487649e-14,  1.00000000e+00,  2.41903631e-28,
        1.00000000e+00,  1.90487649e-14, -1.00000000e+00,  0.00000000e+00,
        1.26991766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02013652, -0.06210425,  0.06158829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38129162e-04,-1.98648052e-03,-5.86283643e-04,-1.29285026e-04,
  2.10312101e-05,-1.66425956e-03,-4.30775453e-04,-9.45223325e-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,
  3.70776633e-03,-7.50895944e-03,-4.90512565e+00,-1.15651708e-03,
  3.07228467e-02, 7.18339985e-03]


--- Step 2035 ---
qpos:
[ 3.30177351e-03, 8.36085726e-01,-2.73243682e-02,-1.15675018e-03,
 -2.17652134e-03, 8.35058484e-01,-2.77743769e-02, 2.55203045e-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,
  7.16025055e-03,-4.29799425e-02, 7.73495390e-02, 7.01796588e-01,
 -8.14056704e-02,-7.00915191e-01,-9.78394628e-02]

qacc:
[ 1.41305852e+00,-1.25532440e+01, 2.24765261e+01,-2.49301537e+01,
  1.33668509e-01,-1.42289746e+01, 2.88597356e+01,-2.68711548e+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,
 -3.14866451e+00, 3.42786120e+00,-1.19170752e+00, 1.74585552e+01,
 -2.49992445e+02, 1.82593869e+02]

qfrc_actuator:
[-0.00348487, 0.05770187, 0.01234746, 0.00324411,-0.00071933, 0.05487691,
  0.00943186, 0.0022294 ,-0.00213826, 0.04157769, 0.00768218, 0.00133421,
  0.        ,-0.00145112, 0.        ,-0.00078815, 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: -0.004404822385156049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89035379e-14, -2.52047172e-14,  1.00000000e+00,  4.76458326e-28,
        1.00000000e+00,  2.52047172e-14, -1.00000000e+00,  0.00000000e+00,
        1.89035379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04180459, -0.06790687,  0.06158811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42648592e-04,-1.85908176e-03,-6.00405237e-04,-1.52389340e-04,
  2.19503767e-05,-1.65771340e-03,-4.66403925e-04,-1.16151963e-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,
  2.96836022e-03,-4.90875265e-03,-4.90510741e+00,-1.01981984e-03,
  3.07474217e-02, 7.19427830e-03]


--- Step 2036 ---
qpos:
[ 3.18609120e-03, 8.36718577e-01,-2.72389420e-02,-1.12245749e-03,
 -2.19084071e-03, 8.35631350e-01,-2.77484612e-02, 2.56604215e-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,
  7.16448020e-03,-4.30012643e-02, 7.74689613e-02, 7.01988981e-01,
 -8.09763077e-02,-7.00709745e-01,-9.82861191e-02]

qacc:
[ 1.37692689e+00,-1.12675816e+01, 1.97035390e+01,-2.24608111e+01,
  1.39103851e-01,-1.05432181e+01, 1.66670880e+01,-1.24858361e+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,
 -2.82318024e+00, 3.04740240e+00,-2.16118926e+00, 1.54512846e+01,
 -2.21404720e+02, 1.61962526e+02]

qfrc_actuator:
[-0.00335845, 0.05715994, 0.01224945, 0.00320464,-0.00070617, 0.05431461,
  0.00933138, 0.00220767,-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,   3.760948  ,   7.77444834,   3.760948  ,
        65.57779431, -27.54584636,   7.77444834, -27.54584636,
        21.96187448,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004390242301777855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42247377e-14, -2.52884226e-14,  1.00000000e+00,  3.59721177e-28,
        1.00000000e+00,  2.52884226e-14, -1.00000000e+00,  0.00000000e+00,
        1.42247377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04186147, -0.06796179,  0.0615915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36802331e-04,-1.72837407e-03,-5.67163954e-04,-1.44046740e-04,
  2.30827802e-05,-1.60524714e-03,-5.09359716e-04,-1.12136005e-04,
  1.57672080e-05,-8.61634853e-04,-2.04786606e-04,-5.14669341e-06,
  5.34902427e-06, 5.76140080e-05, 3.16730182e-05,-1.01648536e-04,
  1.01405261e-03,-1.99190375e-03,-4.90506741e+00,-8.88422133e-04,
  3.07674951e-02, 7.20758682e-03]


--- Step 2037 ---
qpos:
[ 3.07267311e-03, 8.37338546e-01,-2.71553290e-02,-1.08863314e-03,
 -2.20508979e-03, 8.36192259e-01,-2.77238993e-02, 2.57925918e-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,
  7.15851730e-03,-4.30116694e-02, 7.75763882e-02, 7.01935325e-01,
 -8.07688993e-02,-7.00760396e-01,-9.84786868e-02]

qacc:
[ 1.22468053e+00,-1.29122225e+01, 2.33206566e+01,-1.90681560e+01,
  4.15448950e-02,-1.36413300e+01, 2.90751431e+01,-3.18860019e+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,
 -2.54814020e+00, 2.72920660e+00,-2.99883380e+00, 1.37397337e+01,
 -1.97287738e+02, 1.44486054e+02]

qfrc_actuator:
[-0.0032556 , 0.0565538 , 0.01217585, 0.00318556,-0.00071045, 0.05375525,
  0.00927982, 0.00217156,-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,   4.04422748,   7.63092399,   4.04422748,
        59.71278297, -27.06941639,   7.63092399, -27.06941639,
        22.98257884,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004328409789368104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60310466e-15, -1.28248373e-14,  1.00000000e+00,  2.05595564e-29,
        1.00000000e+00,  1.28248373e-14, -1.00000000e+00,  0.00000000e+00,
        1.60310466e-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([ 0.04197915, -0.06806896,  0.06159828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10656290e-04,-1.71192842e-03,-5.11242893e-04,-1.16714730e-04,
  6.17983934e-06,-1.58133603e-03,-4.54646029e-04,-1.25655817e-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,
  1.39372854e-04,-4.53430408e-04,-4.90503579e+00,-8.19165986e-04,
  3.07780894e-02, 7.21375766e-03]


--- Step 2038 ---
qpos:
[ 2.96142026e-03, 8.37945219e-01,-2.70731625e-02,-1.05598687e-03,
 -2.21908281e-03, 8.36740935e-01,-2.76996439e-02, 2.59153830e-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,
  7.14329710e-03,-4.30122280e-02, 7.76689334e-02, 7.01661167e-01,
 -8.07608184e-02,-7.01040788e-01,-9.84434334e-02]

qacc:
[ 1.17092530e+00,-1.59407694e+01, 3.63248575e+01,-4.46412123e+01,
  1.42546968e-01,-1.72246521e+01, 4.19284167e+01,-4.86946397e+01,
  1.40516993e-01,-1.24540154e+01, 3.15187544e+01,-3.02826654e+01,
 -1.75684926e-01, 3.49082745e-01, 1.26088308e+00,-4.97829387e+00,
 -2.31432200e+00, 2.46160655e+00,-3.72044210e+00, 1.22740343e+01,
 -1.76907124e+02, 1.29662831e+02]

qfrc_actuator:
[-0.00314988, 0.05587884, 0.01209933, 0.00312537,-0.0006896 , 0.05316693,
  0.00927537, 0.00212733,-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,   4.23415856,   7.5271959 ,   4.23415856,
        56.39279028, -26.86369333,   7.5271959 , -26.86369333,
        23.74758678,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004228817813937802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96903084e-14, -1.31268723e-14,  1.00000000e+00,  2.58472163e-28,
        1.00000000e+00,  1.31268723e-14, -1.00000000e+00,  0.00000000e+00,
        1.96903084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04214415, -0.06821676,  0.06160769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01529122e-04,-1.75848832e-03,-5.02802944e-04,-1.54641916e-04,
  2.34904490e-05,-1.58588290e-03,-3.96201840e-04,-1.31095315e-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,
  3.66563319e-05, 8.95765065e-05,-4.90501847e+00,-7.90583401e-04,
  3.07822056e-02, 7.21473407e-03]


--- Step 2039 ---
qpos:
[ 2.85248724e-03, 8.38538498e-01,-2.69928373e-02,-1.02464207e-03,
 -2.23257456e-03, 8.37277416e-01,-2.76754960e-02, 2.60349943e-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,
  7.11961934e-03,-4.30038452e-02, 7.77441170e-02, 7.01187712e-01,
 -8.09328619e-02,-7.01528272e-01,-9.82025932e-02]

qacc:
[ 1.25322661e+00,-1.52265903e+01, 3.41051234e+01,-4.38503672e+01,
  2.74842257e-01,-1.64555096e+01, 3.66408877e+01,-3.30235469e+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,
 -2.11439080e+00, 2.23535031e+00,-4.34040872e+00, 1.10147915e+01,
 -1.59679282e+02, 1.17091250e+02]

qfrc_actuator:
[-0.0030255 , 0.05520367, 0.01200367, 0.00305914,-0.0006539 , 0.05258406,
  0.00928094, 0.00211419,-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,   4.33784841,   7.46792127,   4.33784841,
        55.65530919, -27.31162407,   7.46792127, -27.31162407,
        24.5007094 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004099497691532589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07786155e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.07786155e-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([ 0.0423457 , -0.06839588,  0.06161912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16056707e-04,-1.78427574e-03,-5.31711061e-04,-1.63081625e-04,
  4.63642407e-05,-1.57083174e-03,-3.80008803e-04,-9.82557455e-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,
  4.86426676e-04,-8.74074886e-05,-4.90501367e+00,-7.87543876e-04,
  3.07819318e-02, 7.21191056e-03]


--- Step 2040 ---
qpos:
[ 2.74586472e-03, 8.39118698e-01,-2.69145634e-02,-9.94037112e-04,
 -2.24574041e-03, 8.37801755e-01,-2.76515692e-02, 2.61519256e-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,
  7.08817187e-03,-4.29872904e-02, 7.77998136e-02, 7.00532534e-01,
 -8.12687611e-02,-7.02203398e-01,-9.77749691e-02]

qacc:
[   1.24722722, -13.06437942,  24.63353048, -24.55405359,   0.18008835,
  -15.96346046,  34.77944771, -30.15434076,  -0.23195429,  -6.0831908 ,
   14.09304591, -18.66215312,   1.24201379,  -2.02211466,  -4.30482235,
   14.30030326,  -1.94242557,   2.04301896,  -4.87173291,   9.93023197,
 -145.13218223, 106.44402428]

qfrc_actuator:
[-0.00290869, 0.05458705, 0.01191525, 0.0030254 ,-0.00064514, 0.05199156,
  0.00927468, 0.00210172,-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,   4.35001633,   7.46084009,   4.35001633,
        58.07901338, -28.82736143,   7.46084009, -28.82736143,
        25.44405439,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00394724023438979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40632817e-14, -2.81265633e-14,  1.00000000e+00,  3.95551783e-28,
        1.00000000e+00,  2.81265633e-14, -1.00000000e+00,  0.00000000e+00,
        1.40632817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04257509, -0.06859884,  0.06163209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15308287e-04,-1.74612877e-03,-5.33524032e-04,-1.32840095e-04,
  3.00300742e-05,-1.56698444e-03,-3.85486602e-04,-9.57311310e-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,
  1.33225035e-03,-7.86261367e-04,-4.90501614e+00,-7.99433202e-04,
  3.07787029e-02, 7.20628677e-03]


--- Step 2041 ---
qpos:
[ 2.64130034e-03, 8.39685868e-01,-2.68375739e-02,-9.64501702e-04,
 -2.25864483e-03, 8.38314313e-01,-2.76281165e-02, 2.62625347e-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,
  7.04955011e-03,-4.29632212e-02, 7.78342059e-02, 6.99710151e-01,
 -8.17547739e-02,-7.03049503e-01,-9.71764271e-02]

qacc:
[   1.11120514, -15.82166217,  35.94921514, -42.84123631,   0.14493759,
  -15.53243973,  35.46874885, -37.0062952 ,  -0.23328941,  -6.11924916,
   13.56149279, -14.86024012,   0.65257263,  -1.16420446,  -5.79255543,
   19.73207099,  -1.79357536,   1.87859369,  -5.32607745,   8.99421764,
 -132.87778295,  97.45011946]

qfrc_actuator:
[-0.00281509, 0.05397509, 0.01186762, 0.00297561,-0.00063481, 0.05143361,
  0.00926149, 0.00207196,-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,   4.23860484,   7.52469307,   4.23860484,
        65.40387241, -31.97672453,   7.52469307, -31.97672453,
        26.64861984,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037777786328835328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20411874e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.20411874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04282523, -0.0688195 ,  0.0616462 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91849150e-04,-1.71887101e-03,-4.83900622e-04,-1.46710170e-04,
  2.40378587e-05,-1.53099958e-03,-3.92111506e-04,-1.12965506e-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,
  2.46316663e-03,-1.86504211e-03,-4.90501941e+00,-8.18877814e-04,
  3.07734826e-02, 7.19857544e-03]


--- Step 2042 ---
qpos:
[ 2.53871124e-03, 8.40240288e-01,-2.67620065e-02,-9.35841302e-04,
 -2.27130827e-03, 8.38815373e-01,-2.76055213e-02, 2.63684440e-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,
  7.00839484e-03,-4.29264846e-02, 7.78670551e-02, 6.98805123e-01,
 -8.24910252e-02,-7.03982423e-01,-9.63087719e-02]

qacc:
[ 1.06583583e+00,-1.46650713e+01, 3.15431142e+01,-3.50534207e+01,
  1.33490332e-01,-1.37537755e+01, 2.89843999e+01,-2.73068600e+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,
 -6.33376311e-01, 3.16682322e+00,-3.85764140e-01, 7.89262215e+00,
 -8.25843810e+01, 1.74551339e+02]

qfrc_actuator:
[-0.00271834, 0.05337111, 0.01180902, 0.00293456,-0.00062361, 0.05088313,
  0.00922673, 0.00205007,-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: -0.003659198359413779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03406078e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.03406078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02039935, -0.06292987,  0.06165618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84210215e-04,-1.68565876e-03,-4.83490726e-04,-1.35324872e-04,
  2.21455616e-05,-1.50520838e-03,-4.07561835e-04,-1.04111495e-04,
 -5.25010034e-05,-7.05827935e-04,-1.28454703e-04,-2.45348849e-05,
 -2.83523691e-05,-1.17158867e-05, 1.21337570e-05,-4.55615986e-05,
  3.80122792e-03,-3.22286063e-03,-4.90501689e+00,-8.40838868e-04,
  3.07668933e-02, 7.18927959e-03]


--- Step 2043 ---
qpos:
[ 2.43826149e-03, 8.40782591e-01,-2.66884185e-02,-9.07959603e-04,
 -2.28411565e-03, 8.39305060e-01,-2.75837243e-02, 2.64739844e-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,
  6.97035200e-03,-4.28766355e-02, 7.79047109e-02, 6.97928649e-01,
 -8.34986202e-02,-7.04887628e-01,-9.51683446e-02]

qacc:
[ 1.15279147e+00,-1.20776144e+01, 2.31195535e+01,-2.45321948e+01,
 -7.36878663e-02,-1.28628192e+01, 2.42200784e+01,-1.52337343e+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,
  7.78107918e-01, 3.27814088e+00, 1.20161516e+00, 1.04837315e+00,
 -4.58221348e+00, 1.93336286e+02]

qfrc_actuator:
[-0.00260269, 0.05281235, 0.01172673, 0.00289899,-0.00064747, 0.05034157,
  0.00919735, 0.00205073,-0.00222674, 0.03922967, 0.00786941, 0.00133335,
  0.        ,-0.00147672, 0.        ,-0.00097306, 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: -0.0035377487084691517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56910950e-14,  3.13821901e-14,  1.00000000e+00, -4.92420927e-28,
        1.00000000e+00, -3.13821901e-14, -1.00000000e+00,  0.00000000e+00,
        1.56910950e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00962813, -0.0602446 ,  0.06166644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99656210e-04,-1.62096087e-03,-4.99754158e-04,-1.28161983e-04,
 -1.37880558e-05,-1.48438711e-03,-3.98346557e-04,-8.07913015e-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,
  4.36064003e-03,-4.90341682e-03,-4.90497047e+00,-8.88705544e-04,
  3.07522975e-02, 7.18050938e-03]


--- Step 2044 ---
qpos:
[ 2.34013870e-03, 8.41313146e-01,-2.66161605e-02,-8.81180429e-04,
 -2.29708778e-03, 8.39784477e-01,-2.75631047e-02, 2.65809005e-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,
  6.93515785e-03,-4.28151142e-02, 7.79453721e-02, 6.97077111e-01,
 -8.47489984e-02,-7.05766005e-01,-9.37840882e-02]

qacc:
[ 1.25319600e+00,-1.40695558e+01, 3.22979665e+01,-4.06274109e+01,
 -8.55059103e-02,-9.98929239e+00, 1.53506573e+01,-3.54582934e+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,
  7.12170705e-01, 2.91806127e+00, 7.51381687e-01, 9.77860228e-01,
 -3.58202698e+00, 1.72961928e+02]

qfrc_actuator:
[-0.00247665, 0.0522852 , 0.01168462, 0.00284921,-0.00065658, 0.04991634,
  0.00917148, 0.00206468,-0.00221192, 0.03897678, 0.00792441, 0.00134756,
  0.        ,-0.00142718, 0.        ,-0.00084485, 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: -0.0034273782002370023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61963892e-14, -1.61963892e-14,  1.00000000e+00,  2.62323023e-28,
        1.00000000e+00,  1.61963892e-14, -1.00000000e+00,  0.00000000e+00,
        1.61963892e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00976886, -0.05899941,  0.06167595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17314938e-04,-1.55591386e-03,-4.47859106e-04,-1.40001640e-04,
 -1.57054206e-05,-1.35321627e-03,-3.88488934e-04,-6.58170901e-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,
  3.75409751e-03,-5.90568803e-03,-4.90493618e+00,-9.02102526e-04,
  3.07400141e-02, 7.17792156e-03]


--- Step 2045 ---
qpos:
[ 2.24372702e-03, 8.41832593e-01,-2.65451622e-02,-8.54969952e-04,
 -2.31013856e-03, 8.40254122e-01,-2.75436538e-02, 2.66843739e-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,
  6.90835474e-03,-4.27429389e-02, 7.79887047e-02, 6.96363803e-01,
 -8.62435290e-02,-7.06500889e-01,-9.21737588e-02]

qacc:
[ 9.21790512e-01,-1.23197869e+01, 2.50362381e+01,-2.47102929e+01,
 -3.93989412e-02,-1.03495553e+01, 1.96212137e+01,-1.65348047e+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,
  2.09776164e+00, 2.66348602e+00, 6.67834812e-01,-6.19046552e+00,
  7.77628806e+01, 1.77514982e+02]

qfrc_actuator:
[-0.00241643, 0.05179925, 0.01164899, 0.00282705,-0.00065675, 0.0494756 ,
  0.00913066, 0.00205093,-0.00218658, 0.03869541, 0.0079613 , 0.00135774,
  0.        ,-0.0013798 , 0.        ,-0.00100059, 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: -0.003338979537480219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31259231e-15, -4.98755538e-14,  1.00000000e+00,  4.14595145e-28,
        1.00000000e+00,  4.98755538e-14, -1.00000000e+00,  0.00000000e+00,
        8.31259231e-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([-0.00168055, -0.05747092,  0.06168379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59800144e-04,-1.46783532e-03,-4.21839585e-04,-1.08013444e-04,
 -7.65037791e-06,-1.29243814e-03,-3.74516833e-04,-8.72385489e-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,
  3.24346184e-03,-6.63206480e-03,-4.90491942e+00,-8.81629669e-04,
  3.07293938e-02, 7.17437007e-03]


--- Step 2046 ---
qpos:
[ 2.14850530e-03, 8.42341216e-01,-2.64757319e-02,-8.28573983e-04,
 -2.32336082e-03, 8.40714477e-01,-2.75252462e-02, 2.67845147e-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,
  6.89071333e-03,-4.26662852e-02, 7.80485718e-02, 6.95823047e-01,
 -8.78506841e-02,-7.07056405e-01,-9.04642714e-02]

qacc:
[ 6.41438471e-01,-9.53473266e+00, 1.24620092e+01, 1.20470857e+00,
 -8.93588249e-02,-1.00379808e+01, 1.93917716e+01,-1.66711813e+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,
  2.29042549e+00, 1.11961794e+00, 4.13363026e+00,-5.01192919e+00,
  1.13941106e+02, 8.99969887e+01]

qfrc_actuator:
[-0.00237826, 0.05128881, 0.01158223, 0.00283911,-0.00066935, 0.04906467,
  0.00909909, 0.00203876,-0.00217296, 0.03845248, 0.0079516 , 0.00129442,
  0.        ,-0.00136953, 0.        ,-0.00102061, 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: -0.0032723294057622893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.6963803e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.6963803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00017279, -0.04651431,  0.06168991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11083939e-04,-1.43604168e-03,-4.30378358e-04,-6.84671864e-05,
 -1.63169027e-05,-1.22641957e-03,-3.51645907e-04,-8.29857748e-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,
  1.89208840e-03,-5.90708014e-03,-4.90498968e+00,-7.71505420e-04,
  3.07305184e-02, 7.17702296e-03]


--- Step 2047 ---
qpos:
[ 2.05484666e-03, 8.42839425e-01,-2.64087903e-02,-8.01901304e-04,
 -2.33649623e-03, 8.41165535e-01,-2.75075310e-02, 2.68820184e-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,
  6.88144961e-03,-4.25854841e-02, 7.81202397e-02, 6.95439876e-01,
 -8.95625834e-02,-7.07446816e-01,-8.86618553e-02]

qacc:
[ 8.40416256e-01,-6.23602575e+00, 1.09921958e+00, 1.53215278e+01,
  4.96754001e-02,-1.08849416e+01, 2.21029199e+01,-1.87346624e+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,
  2.09442161e+00, 1.03684443e+00, 2.95020489e+00,-4.13492394e+00,
  1.04332761e+02, 8.37412365e+01]

qfrc_actuator:
[-0.00228249, 0.05078559, 0.01146208, 0.00285343,-0.00065376, 0.04862179,
  0.00907341, 0.00202764,-0.00218423, 0.03821655, 0.00787908, 0.00127713,
  0.        ,-0.00134591, 0.        ,-0.00087164, 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: -0.003199380563494371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67529669e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.67529669e-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([ 0.00011781, -0.04653232,  0.06169673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46091010e-04,-1.41083157e-03,-4.76772970e-04,-6.43528876e-05,
  7.84250245e-06,-1.21630424e-03,-3.29069208e-04,-7.82005885e-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,
  8.08981369e-04,-4.14885117e-03,-4.90504016e+00,-5.55034126e-04,
  3.07365067e-02, 7.17754964e-03]


--- Step 2048 ---
qpos:
[ 1.96328476e-03, 8.43327398e-01,-2.63440709e-02,-7.74979067e-04,
 -2.34924594e-03, 8.41606704e-01,-2.74897814e-02, 2.69706328e-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,
  6.88615878e-03,-4.25186550e-02, 7.81961921e-02, 6.95366164e-01,
 -9.09672428e-02,-7.07527720e-01,-8.71515014e-02]

qacc:
[ 1.12613709e+00,-6.79871748e+00, 3.56410848e+00, 1.18285672e+01,
  2.10764259e-01,-1.49802189e+01, 3.82127289e+01,-4.63973000e+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,
  3.49322287e+00,-3.49301368e+00, 1.07112959e+00, 3.66142055e+00,
  2.43783808e+02,-1.82655625e+02]

qfrc_actuator:
[-0.00215299, 0.05030837, 0.0113647 , 0.00286894,-0.00062145, 0.0481102 ,
  0.00906909, 0.00198173,-0.00219253, 0.03796876, 0.00782342, 0.00130479,
  0.        ,-0.00133226, 0.        ,-0.00090839, 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: -0.003197203900454103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73624057e-14, -5.20872171e-14,  1.00000000e+00,  9.04359395e-28,
        1.00000000e+00,  5.20872171e-14, -1.00000000e+00,  0.00000000e+00,
        1.73624057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0160025 , -0.01713879,  0.06169799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96173728e-04,-1.37985475e-03,-4.54259652e-04,-6.35903682e-05,
  3.57948980e-05,-1.27424075e-03,-3.02596522e-04,-1.11678924e-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,
  2.11933892e-04,-2.36357887e-03,-4.90511469e+00,-3.21882709e-04,
  3.07414962e-02, 7.17593632e-03]


--- Step 2049 ---
qpos:
[ 1.87370373e-03, 8.43805064e-01,-2.62808383e-02,-7.48831531e-04,
 -2.36136776e-03, 8.42038439e-01,-2.74722430e-02, 2.70628566e-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,
  6.90337847e-03,-4.24643380e-02, 7.82719039e-02, 6.95570598e-01,
 -9.20978462e-02,-7.07333516e-01,-8.59001002e-02]

qacc:
[ 1.06397096e+00,-1.10539968e+01, 2.29243974e+01,-2.63857489e+01,
  3.40387437e-01,-1.11241890e+01, 2.00571276e+01,-6.54791793e+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,
  3.12762784e+00,-3.12801429e+00,-6.01668930e-02, 4.33955879e+00,
  2.17769437e+02,-1.62351508e+02]

qfrc_actuator:
[-0.00205767, 0.04981524, 0.01129948, 0.00283183,-0.00057944, 0.04768597,
  0.00907713, 0.00200443,-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, -8.57149023,  1.05656618, -8.57149023,  9.54919516,
        7.40542961,  1.05656618,  7.40542961, 68.71359205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032361170339073597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43072581e-14, -1.71536291e-14,  1.00000000e+00,  5.88493981e-28,
        1.00000000e+00,  1.71536291e-14, -1.00000000e+00,  0.00000000e+00,
        3.43072581e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01597035, -0.01717317,  0.06169594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85394993e-04,-1.37349471e-03,-4.12815038e-04,-1.14079183e-04,
  5.84927105e-05,-1.21499503e-03,-3.00014139e-04,-4.52670170e-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,
  5.22223486e-05, 6.83659478e-04,-4.90492978e+00, 8.23367235e-05,
  3.07406676e-02, 7.17482129e-03]


--- Step 2050 ---
qpos:
[ 1.78544496e-03, 8.44272554e-01,-2.62192776e-02,-7.24389700e-04,
 -2.37288074e-03, 8.42461201e-01,-2.74550855e-02, 2.71633545e-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,
  6.93188762e-03,-4.24213136e-02, 7.83434879e-02, 6.96026315e-01,
 -9.29822756e-02,-7.06892538e-01,-8.48799424e-02]

qacc:
[   0.71059081, -12.28103476,  31.47928097, -50.85346491,   0.32976213,
   -9.08185126,  11.68905649,   9.82839773,  -0.25193943,  -6.39162276,
   12.68583146,  -5.84874449,   0.24534452,  -0.36392219,  -1.91875867,
    6.08245747,   2.82236833,  -2.82315639,  -1.03194568,   4.80503399,
  195.91612837,-145.33054028]

qfrc_actuator:
[-0.0020191 , 0.04931673, 0.01121819, 0.0027463 ,-0.00054977, 0.04728216,
  0.00907506, 0.00204965,-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, -8.62693364,  0.40347596, -8.62693364,  8.76978173,
        2.85268304,  0.40347596,  2.85268304, 69.631094  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003230510661764066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.57750974e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.57750974e-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([-0.01599787, -0.01715456,  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:
[ 1.23704059e-04,-1.36865912e-03,-4.24107934e-04,-1.61740009e-04,
  5.67427154e-05,-1.15783802e-03,-2.95185997e-04,-1.88118375e-05,
 -4.59981055e-05,-6.12213704e-04,-1.35841338e-04,-2.10241147e-05,
 -1.95896235e-07,-1.55283680e-05,-1.67645777e-05, 2.43072105e-05,
  7.26949092e-04, 2.39526784e-03,-4.90484763e+00, 3.66227652e-04,
  3.07409681e-02, 7.17779569e-03]


--- Step 2051 ---
qpos:
[ 1.69840529e-03, 8.44729806e-01,-2.61587441e-02,-7.00871631e-04,
 -2.38406458e-03, 8.42875065e-01,-2.74384228e-02, 2.72579654e-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,
  6.97066153e-03,-4.23885587e-02, 7.84076072e-02, 6.96710235e-01,
 -9.36440213e-02,-7.06228191e-01,-8.40677612e-02]

qacc:
[ 6.55540533e-01,-1.25517395e+01, 2.90289642e+01,-3.58587860e+01,
  1.79463191e-01,-1.15780587e+01, 2.67116764e+01,-2.95779680e+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,
  2.56618831e+00,-2.56737909e+00,-1.86616814e+00, 5.11782228e+00,
  1.77512590e+02,-1.31015759e+02]

qfrc_actuator:
[-0.00196145, 0.04883673, 0.0111813 , 0.00270399,-0.00054547, 0.04684064,
  0.00904943, 0.002019  ,-0.00225345, 0.03730179, 0.00790455, 0.00138107,
  0.        ,-0.00137533, 0.        ,-0.0008782 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364e+00, -8.63625645e+00, -4.30284051e-02, -8.63625645e+00,
        8.63788612e+00, -3.05578656e-01, -4.30284051e-02, -3.05578656e-01,
        6.99692350e+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: -0.003188908477912304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48151423e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.48151423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01607235, -0.01709446,  0.06170156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14075969e-04,-1.35154953e-03,-3.81648193e-04,-1.19620362e-04,
  3.05643778e-05,-1.16122008e-03,-3.05355265e-04,-9.15292410e-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,
  1.99620666e-03, 3.12373771e-03,-4.90483997e+00, 5.56629004e-04,
  3.07427351e-02, 7.18436227e-03]


--- Step 2052 ---
qpos:
[ 1.61303258e-03, 8.45176874e-01,-2.60989943e-02,-6.77739838e-04,
 -2.39502194e-03, 8.43279573e-01,-2.74223137e-02, 2.73452203e-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,
  7.01883556e-03,-4.23652113e-02, 7.84613993e-02, 6.97602515e-01,
 -9.41029037e-02,-7.05359821e-01,-8.34439768e-02]

qacc:
[ 8.95010313e-01,-1.20545675e+01, 2.50900235e+01,-2.30461606e+01,
  1.24478279e-01,-1.23203347e+01, 2.91018469e+01,-3.40814276e+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,
  2.35002901e+00,-2.35185728e+00,-2.58180620e+00, 5.32298625e+00,
  1.61996297e+02,-1.18951897e+02]

qfrc_actuator:
[-0.00185726, 0.04835422, 0.01115332, 0.0026875 ,-0.00053862, 0.04634451,
  0.00900994, 0.00197943,-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, -8.63315393, -0.235436  , -8.63315393,  8.68265659,
       -1.69750675, -0.235436  , -1.69750675, 70.88188839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031185010905660573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.56011748e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.56011748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01618368, -0.01700202,  0.06170788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56165439e-04,-1.33366032e-03,-3.62420258e-04,-9.07530972e-05,
  2.09396218e-05,-1.22271219e-03,-3.23614435e-04,-1.02351844e-04,
  3.50235598e-06,-5.96074611e-04,-1.31045908e-04,-1.51062443e-06,
 -2.18365741e-08,-2.72026720e-05, 1.01607211e-05, 1.33442541e-04,
  3.69042670e-03, 3.12333394e-03,-4.90489103e+00, 6.73326744e-04,
  3.07460115e-02, 7.19403748e-03]


--- Step 2053 ---
qpos:
[ 1.52963417e-03, 8.45614487e-01,-2.60412599e-02,-6.55356035e-04,
 -2.40540598e-03, 8.43674738e-01,-2.74063655e-02, 2.74369983e-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,
  7.07453400e-03,-4.23536886e-02, 7.85119332e-02, 6.98669263e-01,
 -9.43162311e-02,-7.04321690e-01,-8.30461702e-02]

qacc:
[ 1.05782777e+00,-8.39965288e+00, 1.49780159e+01,-1.77541143e+01,
  3.10598218e-01,-1.09549042e+01, 1.92436365e+01,-4.30014714e+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,
  1.88110418e+00,-2.95618474e+00,-8.14540102e-01, 7.07820346e+00,
  1.41621033e+02,-1.50157122e+02]

qfrc_actuator:
[-0.00174385, 0.04790975, 0.01105984, 0.00265083,-0.00049476, 0.0459084 ,
  0.00901563, 0.0020059 ,-0.00223078, 0.03690364, 0.00785058, 0.00144474,
  0.        ,-0.00140289, 0.        ,-0.0007124 , 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: -0.003037378627604767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82760064e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82760064e-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([-0.00508452, -0.01988389,  0.06171489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85099345e-04,-1.28015135e-03,-4.20765630e-04,-1.08920421e-04,
  5.34637245e-05,-1.20107995e-03,-2.93662892e-04,-3.97746830e-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,
  5.69015162e-03, 2.57800505e-03,-4.90499263e+00, 7.31003018e-04,
  3.07506764e-02, 7.20638644e-03]


--- Step 2054 ---
qpos:
[ 1.44840245e-03, 8.46042647e-01,-2.59852356e-02,-6.33968637e-04,
 -2.41539117e-03, 8.44061277e-01,-2.73897648e-02, 2.75295941e-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,
  7.13306648e-03,-4.23564410e-02, 7.85672485e-02, 6.99822799e-01,
 -9.42437060e-02,-7.03200201e-01,-8.29195475e-02]

qacc:
[ 1.16039380e+00,-9.75931948e+00, 2.08804446e+01,-2.84472026e+01,
  2.17283089e-01,-1.30430175e+01, 2.96273332e+01,-2.29274445e+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,
  7.08510704e-01,-3.56877343e+00, 1.19533599e+00, 4.98930028e+00,
  8.43415951e+01,-1.87865335e+02]

qfrc_actuator:
[-0.00162588, 0.04745595, 0.01098188, 0.00260257,-0.00048238, 0.04556528,
  0.00908378, 0.00201784,-0.00222732, 0.03674465, 0.00783744, 0.00146676,
  0.        ,-0.00134901, 0.        ,-0.00074463, 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: -0.002970001678325125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86906127e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86906127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00718499, -0.02309359,  0.06172073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03245645e-04,-1.27214383e-03,-4.01933579e-04,-1.20573515e-04,
  3.71463344e-05,-1.08688533e-03,-2.20812163e-04,-5.11087326e-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,
  7.57920350e-03, 1.21086509e-03,-4.90514923e+00, 7.08175809e-04,
  3.07612561e-02, 7.22215755e-03]


--- Step 2055 ---
qpos:
[ 1.36925742e-03, 8.46461015e-01,-2.59305853e-02,-6.12975873e-04,
 -2.42544985e-03, 8.44439434e-01,-2.73728754e-02, 2.76123281e-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,
  7.19424346e-03,-4.23722842e-02, 7.86236744e-02, 7.01056269e-01,
 -9.39083648e-02,-7.02000907e-01,-8.30424799e-02]

qacc:
[ 1.11753705e+00,-9.90658172e+00, 1.82166914e+01,-1.56585257e+01,
 -3.60746717e-02,-1.39005584e+01, 3.76629093e+01,-4.90445915e+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,
  6.61122896e-01,-3.27270397e+00, 2.77664678e-01, 4.75965721e+00,
  7.79857652e+01,-1.72748073e+02]

qfrc_actuator:
[-0.0015239 , 0.04696481, 0.01091371, 0.00258342,-0.00050671, 0.04515671,
  0.00909988, 0.00196799,-0.00222647, 0.03659085, 0.00787092, 0.0014629 ,
  0.        ,-0.00135284, 0.        ,-0.00067613, 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: -0.0029043107275882954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82267302e-14, -3.82267302e-14,  1.00000000e+00,  1.46128290e-27,
        1.00000000e+00,  3.82267302e-14, -1.00000000e+00,  0.00000000e+00,
        3.82267302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00716328, -0.02302566,  0.06172651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95793961e-04,-1.30135701e-03,-3.88467734e-04,-9.06884048e-05,
 -7.14051346e-06,-1.07371323e-03,-2.40620602e-04,-1.05688999e-04,
  5.20311899e-06,-4.70038922e-04,-9.02083064e-05,-3.09212152e-05,
  9.38408851e-06, 1.10712174e-05,-1.33871029e-06, 6.76071915e-05,
  8.34684633e-03,-8.22793182e-04,-4.90535493e+00, 5.91511386e-04,
  3.07828943e-02, 7.23500380e-03]


--- Step 2056 ---
qpos:
[ 1.29186249e-03, 8.46869893e-01,-2.58774613e-02,-5.91383642e-04,
 -2.43527673e-03, 8.44809712e-01,-2.73572908e-02, 2.76887864e-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,
  7.25790741e-03,-4.24002415e-02, 7.86780975e-02, 7.02363661e-01,
 -9.33294559e-02,-7.00728090e-01,-8.33969110e-02]

qacc:
[ 9.37173670e-01,-7.03755311e+00, 4.36853741e+00, 1.54177629e+01,
  1.26081677e-01,-8.05207590e+00, 1.62548933e+01,-1.92433478e+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,
  6.21742678e-01,-3.02851750e+00,-5.00695267e-01, 4.53933229e+00,
  7.27017512e+01,-1.60117664e+02]

qfrc_actuator:
[-0.00145006, 0.04652641, 0.01085178, 0.00261702,-0.00048173, 0.04476534,
  0.0090316 , 0.00193536,-0.0021917 , 0.03647715, 0.0079139 , 0.00149716,
  0.        ,-0.00135549, 0.        ,-0.00069081, 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: -0.002820400196145996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93640245e-14,  1.96820123e-14,  1.00000000e+00, -7.74763213e-28,
        1.00000000e+00, -1.96820123e-14, -1.00000000e+00,  0.00000000e+00,
        3.93640245e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00713562, -0.02294118,  0.06173379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64233062e-04,-1.26064789e-03,-3.85486161e-04,-3.81125635e-05,
  2.15065585e-05,-1.05537992e-03,-3.26541294e-04,-8.96360634e-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,
  9.09474537e-03,-2.87703821e-03,-4.90561420e+00, 4.36916832e-04,
  3.08063384e-02, 7.24908807e-03]


--- Step 2057 ---
qpos:
[ 1.21606460e-03, 8.47269585e-01,-2.58248789e-02,-5.70371324e-04,
 -2.44498474e-03, 8.45172593e-01,-2.73433372e-02, 2.77705832e-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,
  7.30108840e-03,-4.24345975e-02, 7.87247807e-02, 7.03281029e-01,
 -9.25946553e-02,-6.99837536e-01,-8.39609848e-02]

qacc:
[ 8.55555837e-01,-1.18123053e+01, 2.69560746e+01,-2.93836226e+01,
  6.53047269e-02,-4.11520714e+00,-1.76114579e+00, 1.90442611e+01,
  2.08691504e-01,-5.46822248e+00, 1.33097459e+01,-1.09905826e+01,
 -9.85587012e-01, 1.52618939e+00, 7.22073578e+00,-2.43674261e+01,
 -5.12073793e+00,-1.59968202e+00,-1.93499899e+00,-2.09654489e+01,
 -2.54611213e+02,-1.62343219e+02]

qfrc_actuator:
[-0.00137585, 0.04612327, 0.01084754, 0.00259268,-0.00048071, 0.04444039,
  0.00896743, 0.00196636,-0.00217244, 0.03633527, 0.0079446 , 0.00150034,
  0.        ,-0.00128636, 0.        ,-0.00080767, 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: -0.0028715719579375937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.6750773e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.6750773e-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([ 0.05301671, -0.03543789,  0.06173002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49910937e-04,-1.19952039e-03,-3.17104075e-04,-9.31678746e-05,
  1.09293636e-05,-9.95549380e-04,-3.28601919e-04,-2.78703297e-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,
  9.82551130e-03,-4.94097187e-03,-4.90592216e+00, 2.49507601e-04,
  3.08310409e-02, 7.26421152e-03]


--- Step 2058 ---
qpos:
[ 1.14178887e-03, 8.47661268e-01,-2.57736496e-02,-5.50271212e-04,
 -2.45496837e-03, 8.45528034e-01,-2.73298544e-02, 2.78511219e-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,
  7.32600406e-03,-4.24745579e-02, 7.87604465e-02, 7.03851100e-01,
 -9.17176998e-02,-6.99289067e-01,-8.47130031e-02]

qacc:
[ 8.14273090e-01,-8.67634713e+00, 1.94312120e+01,-2.71721715e+01,
 -1.44965160e-01,-8.76922064e+00, 1.75347432e+01,-1.34967860e+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,
 -4.56633426e+00,-1.40111411e+00,-2.75433129e+00,-1.74960227e+01,
 -2.27148086e+02,-1.46248916e+02]

qfrc_actuator:
[-0.00130196, 0.04579803, 0.01080654, 0.00255226,-0.00051178, 0.0441047 ,
  0.00895983, 0.00196362,-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,  8.39408762,  2.03127296,  8.39408762, 10.55766325,
       -7.93963074,  2.03127296, -7.93963074, 41.44630958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029272973890326556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.8963277e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.8963277e-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([ 0.05292566, -0.03544259,  0.06172591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42950237e-04,-1.07544339e-03,-3.34645667e-04,-1.05311320e-04,
 -2.61026184e-05,-9.70412794e-04,-2.57717322e-04,-5.79075804e-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,
  4.43778755e-03,-4.04626720e-03,-4.90574022e+00, 1.41484936e-04,
  3.08409364e-02, 7.22512065e-03]


--- Step 2059 ---
qpos:
[ 1.06918149e-03, 8.48045021e-01,-2.57241280e-02,-5.29776951e-04,
 -2.46504615e-03, 8.45876386e-01,-2.73168009e-02, 2.79231839e-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,
  7.33451543e-03,-4.25194644e-02, 7.87822586e-02, 7.04109231e-01,
 -9.07103197e-02,-6.99048325e-01,-8.56345028e-02]

qacc:
[ 8.91740875e-01,-4.89367384e+00, 5.81301412e-01, 1.47973687e+01,
 -4.80310277e-02,-9.90286649e+00, 2.53035621e+01,-3.40868181e+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,
 -4.10107279e+00,-1.23648903e+00,-3.46342864e+00,-1.46294744e+01,
 -2.04068020e+02,-1.32571784e+02]

qfrc_actuator:
[-0.00121108, 0.04541551, 0.01072675, 0.00257378,-0.00050852, 0.04378333,
  0.00895016, 0.00192332,-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,  8.36155511,  2.16128964,  8.36155511, 10.90597431,
       -8.78062541,  2.16128964, -8.78062541, 42.60667554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002937875513503857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41804744e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.41804744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529161 , -0.03543491,  0.0617254 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56755443e-04,-1.06727378e-03,-3.50308135e-04,-3.88930074e-05,
 -9.05447253e-06,-9.28504469e-04,-2.46836531e-04,-9.25020959e-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,
  1.41714470e-03,-2.66483980e-03,-4.90561797e+00, 8.46188271e-05,
  3.08410661e-02, 7.20125397e-03]


--- Step 2060 ---
qpos:
[ 9.98034197e-04, 8.48420724e-01,-2.56754484e-02,-5.09243419e-04,
 -2.47491458e-03, 8.46217421e-01,-2.73040027e-02, 2.79968217e-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,
  7.32819566e-03,-4.25687672e-02, 7.87877650e-02, 7.04084767e-01,
 -8.95825084e-02,-6.99085858e-01,-8.67097317e-02]

qacc:
[ 7.80955669e-01,-8.19824039e+00, 1.36344505e+01,-5.69773573e+00,
  1.14450357e-01,-8.62626469e+00, 1.60639303e+01,-7.55617936e+00,
 -1.17600192e-01,-9.16062270e+00, 2.63401860e+01,-3.24590478e+01,
  3.25781838e-01,-7.28270113e-01, 9.46761954e+00,-3.27613704e+01,
 -3.70778268e+00,-1.09911815e+00,-4.07644373e+00,-1.22358251e+01,
 -1.84613539e+02,-1.20935995e+02]

qfrc_actuator:
[-0.00114626, 0.04503726, 0.0106956 , 0.00257826,-0.00048472, 0.04341992,
  0.0089394 , 0.00193227,-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,  8.37083479,  2.12506512,  8.37083479, 10.89923496,
       -8.91366661,  2.12506512, -8.91366661, 43.74814909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002911774092338351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77540236e-15, -5.71931230e-14,  1.00000000e+00,  2.73120174e-28,
        1.00000000e+00,  5.71931230e-14, -1.00000000e+00,  0.00000000e+00,
        4.77540236e-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([ 0.05297102, -0.03541729,  0.06172775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37204240e-04,-1.05862472e-03,-2.99539326e-04,-5.48190522e-05,
  1.94483720e-05,-9.46168093e-04,-2.39070801e-04,-4.17400043e-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,
  1.43354693e-04,-9.42137326e-04,-4.90555108e+00, 6.25871439e-05,
  3.08352101e-02, 7.18821351e-03]


--- Step 2061 ---
qpos:
[ 9.28267285e-04, 8.48788578e-01,-2.56276598e-02,-4.89197934e-04,
 -2.48430374e-03, 8.46551296e-01,-2.72912750e-02, 2.80705092e-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,
  7.30838459e-03,-4.26220048e-02, 7.87748472e-02, 7.03802090e-01,
 -8.83427445e-02,-6.99376388e-01,-8.79252275e-02]

qacc:
[ 7.38046349e-01,-8.88212841e+00, 1.86827497e+01,-1.99411141e+01,
  2.58674365e-01,-9.24409736e+00, 1.92185942e+01,-1.37658057e+01,
 -7.35617407e-02,-5.25685491e+00, 1.40724873e+01,-1.80759801e+01,
  9.66347827e-02,-2.79855097e-01, 1.25732901e+00,-4.93428030e+00,
 -3.37282649e+00,-9.83655514e-01,-4.60602202e+00,-1.02143167e+01,
 -1.68185607e+02,-1.11039107e+02]

qfrc_actuator:
[-0.00107979, 0.04466485, 0.01065794, 0.00255495,-0.00044887, 0.0430876 ,
  0.00894572, 0.0019346 ,-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,  8.43279806,  1.86405303,  8.43279806, 10.40772369,
       -8.01346387,  1.86405303, -8.01346387, 44.88850969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028561488681609765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.83069936e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.83069936e-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([ 0.05307685, -0.0353917 ,  0.06173236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29748970e-04,-1.03793459e-03,-2.98483062e-04,-8.07671393e-05,
  4.48229358e-05,-9.20983551e-04,-2.22850604e-04,-4.78495637e-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,
  1.68345638e-04, 1.01868986e-03,-4.90552777e+00, 6.38357843e-05,
  3.08258841e-02, 7.18287807e-03]


--- Step 2062 ---
qpos:
[ 8.60225961e-04, 8.49148255e-01,-2.55811637e-02,-4.69530243e-04,
 -2.49320328e-03, 8.46878683e-01,-2.72800065e-02, 2.81369856e-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,
  7.27623250e-03,-4.26787855e-02, 7.87416760e-02, 7.03281450e-01,
 -8.69981769e-02,-6.99898192e-01,-8.92694752e-02]

qacc:
[ 9.21575701e-01,-7.96759867e+00, 1.43267062e+01,-1.27921603e+01,
  2.62915320e-01,-5.97813934e+00, 1.19197321e+01,-1.73000023e+01,
 -1.48071985e-01,-1.51826458e+00,-6.86632036e+00, 3.21853375e+01,
 -3.08414171e-01, 4.59038416e-01,-2.62921939e+00, 8.69878159e+00,
 -3.08525694e+00,-8.85818825e-01,-5.06337352e+00,-8.48619549e+00,
 -1.54303667e+02,-1.02633902e+02]

qfrc_actuator:
[-0.00097732, 0.04422797, 0.01058126, 0.00253324,-0.00042389, 0.0427767 ,
  0.00887346, 0.00189755,-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,  8.53250416,  1.33534623,  8.53250416,  9.54478078,
       -5.80454184,  1.33534623, -5.80454184, 45.72582888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027770514987507516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99892408e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.99892408e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05322269, -0.03535977,  0.06173874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62295869e-04,-1.09154109e-03,-3.33929558e-04,-7.87386182e-05,
  4.58220453e-05,-8.82206472e-04,-2.94393232e-04,-8.57055040e-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,
  1.16745010e-03, 3.14520642e-03,-4.90553347e+00, 8.02248020e-05,
  3.08147435e-02, 7.18300474e-03]


--- Step 2063 ---
qpos:
[ 7.93726302e-04, 8.49500279e-01,-2.55360030e-02,-4.49662045e-04,
 -2.50205727e-03, 8.47199238e-01,-2.72701624e-02, 2.81850114e-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,
  7.22996222e-03,-4.27289959e-02, 7.86978573e-02, 7.02451760e-01,
 -8.57742783e-02,-7.00725789e-01,-9.04857205e-02]

qacc:
[ 8.23097655e-01,-5.96638270e+00, 5.75416997e+00, 5.47342399e+00,
  2.58001804e-02,-8.83976857e+00, 2.62117858e+01,-5.08509819e+01,
 -1.41455945e-01,-4.95867657e+00, 5.05176108e+00, 1.64719263e+01,
 -2.32017009e-01, 2.68014393e-01, 5.87134350e+00,-2.00879095e+01,
 -3.52954590e+00, 1.64259969e+00,-2.66186527e+00, 2.56777698e+00,
 -2.26635614e+02, 6.01427811e+01]

qfrc_actuator:
[-0.00090741, 0.04389788, 0.01053518, 0.00254808,-0.00044114, 0.04240985,
  0.00879096, 0.00180208,-0.00227494, 0.03515741, 0.00809342, 0.00156673,
  0.        ,-0.00136679, 0.        ,-0.00113054, 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: -0.0027543163624620254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26735193e-14, -2.01542394e-14,  1.00000000e+00,  4.56967535e-28,
        1.00000000e+00,  2.01542394e-14, -1.00000000e+00,  0.00000000e+00,
        2.26735193e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04756781, -0.05804894,  0.06174034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45031460e-04,-1.02173891e-03,-3.18620491e-04,-4.56596616e-05,
  4.07181665e-06,-9.32707379e-04,-3.06675401e-04,-1.45657998e-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,
  2.90536853e-03, 5.38741348e-03,-4.90555321e+00, 1.06078062e-04,
  3.08028572e-02, 7.18695995e-03]


--- Step 2064 ---
qpos:
[ 7.28469670e-04, 8.49845399e-01,-2.54922267e-02,-4.29878546e-04,
 -2.51096264e-03, 8.47512597e-01,-2.72608444e-02, 2.82278795e-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,
  7.17090918e-03,-4.27732145e-02, 7.86406862e-02, 7.01340780e-01,
 -8.46577828e-02,-7.01830588e-01,-9.15860049e-02]

qacc:
[ 6.63478113e-01,-5.42544165e+00, 6.46730328e+00,-6.47797771e-01,
 -2.51403234e-02,-9.09406189e+00, 2.08087167e+01,-2.36115245e+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,
 -3.19568941e+00, 1.49795160e+00,-3.33808254e+00, 3.38328003e+00,
 -2.05746716e+02, 5.37436637e+01]

qfrc_actuator:
[-0.00085754, 0.04361687, 0.01049027, 0.00254892,-0.00044797, 0.04206561,
  0.00877389, 0.00177948,-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,  8.54471761, -1.25482182,  8.54471761,  9.64741979,
        6.88479367, -1.25482182,  6.88479367, 55.51841235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027282800210956526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0173287e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0173287e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04760365, -0.05806191,  0.06174216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16949502e-04,-9.28859462e-04,-2.99932367e-04,-5.54855014e-05,
 -5.04843989e-06,-9.43253015e-04,-2.55202171e-04,-7.65172467e-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,
  5.97584331e-03, 6.79215693e-03,-4.90556989e+00, 1.67739744e-04,
  3.08051509e-02, 7.18950554e-03]


--- Step 2065 ---
qpos:
[ 6.64562117e-04, 8.50183726e-01,-2.54489189e-02,-4.11367016e-04,
 -2.51970892e-03, 8.47819120e-01,-2.72518572e-02, 2.82773512e-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,
  7.10022892e-03,-4.28119403e-02, 7.85678241e-02, 6.99971554e-01,
 -8.36374924e-02,-7.03188066e-01,-9.25804409e-02]

qacc:
[ 7.20199307e-01,-1.02810776e+01, 2.90038660e+01,-4.52816452e+01,
  8.72388962e-02,-6.74442923e+00, 8.15539979e+00, 8.82229540e+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,
 -2.90680470e+00, 1.37320380e+00,-3.92276752e+00, 4.04723073e+00,
 -1.88115450e+02, 4.83562769e+01]

qfrc_actuator:
[-0.00078451, 0.04331436, 0.01048215, 0.0024883 ,-0.00043073, 0.04177355,
  0.00877799, 0.00181778,-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,  8.35478536, -2.18731306,  8.35478536, 11.826996  ,
       12.18712085, -2.18731306, 12.18712085, 55.18698353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026742058756984988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.15159893e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.15159893e-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([ 0.04768274, -0.05809502,  0.0617462 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26991553e-04,-8.94809787e-04,-2.41930236e-04,-1.12492881e-04,
  1.47603044e-05,-8.83201790e-04,-2.27409930e-04,-1.29392675e-05,
  1.93870365e-06,-4.46912875e-04,-9.32592127e-05,-1.04812918e-04,
 -1.31876354e-05,-6.56082106e-05,-1.70084907e-05, 9.44879344e-05,
  9.71564664e-03, 7.54942400e-03,-4.90561032e+00, 2.06025914e-04,
  3.08095779e-02, 7.19156580e-03]


--- Step 2066 ---
qpos:
[ 6.02006351e-04, 8.50515412e-01,-2.54061967e-02,-3.93750513e-04,
 -2.52804615e-03, 8.48119203e-01,-2.72428925e-02, 2.83301819e-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,
  7.02544340e-03,-4.28326068e-02, 7.85080762e-02, 6.98480962e-01,
 -8.29870680e-02,-7.04666672e-01,-9.31792558e-02]

qacc:
[ 7.21290087e-01,-8.97761967e+00, 2.30567289e+01,-3.27346283e+01,
  2.20609874e-01,-7.74749200e+00, 1.38647124e+01,-3.28930723e+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,
 -1.02631464e+00, 4.51482599e+00, 3.27853192e+00, 1.01818975e+01,
 -1.18730732e+02, 2.57821188e+02]

qfrc_actuator:
[-0.00071594, 0.0430016 , 0.01046024, 0.00244529,-0.00039923, 0.04149756,
  0.0087948 , 0.00183839,-0.00224829, 0.03464811, 0.00811421, 0.00146989,
  0.        ,-0.00144419, 0.        ,-0.00095294, 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: -0.002725488994678331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.07348196e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.07348196e-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([ 0.02086453, -0.06389868,  0.06174139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27288065e-04,-8.76311410e-04,-2.43458574e-04,-9.25174603e-05,
  3.82995158e-05,-8.24916013e-04,-1.96607852e-04,-2.58515176e-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,
  1.39316864e-02, 7.81581108e-03,-4.90565002e+00, 2.27820995e-04,
  3.08153685e-02, 7.19256591e-03]


--- Step 2067 ---
qpos:
[ 5.40393474e-04, 8.50840214e-01,-2.53640153e-02,-3.76770423e-04,
 -2.53595825e-03, 8.48412877e-01,-2.72336181e-02, 2.83881467e-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,
  6.95482200e-03,-4.28358586e-02, 7.84720543e-02, 6.97030628e-01,
 -8.27119936e-02,-7.06104638e-01,-9.33984514e-02]

qacc:
[ 5.03684499e-01,-8.89016203e+00, 2.11888798e+01,-2.62847917e+01,
  2.29328115e-01,-8.27077593e+00, 1.50373127e+01,-1.94274988e+00,
  1.40315260e-01, 1.00217780e+00,-1.18212890e+01, 2.48707076e+01,
 -3.55174442e-01, 5.65187086e-01,-3.29042939e+00, 1.17386843e+01,
  1.04102760e+00, 4.35364929e+00, 5.93153980e+00, 2.44213348e+00,
 -4.86090695e+00, 2.68389013e+02]

qfrc_actuator:
[-0.00068609, 0.04264974, 0.01043035, 0.00241297,-0.00037724, 0.04119804,
  0.00881907, 0.00186619,-0.00223512, 0.03447688, 0.00803074, 0.00149194,
  0.        ,-0.00141132, 0.        ,-0.00089962, 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: -0.0027892053544651685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99021385e-14,  3.98042770e-14,  1.00000000e+00, -7.92190233e-28,
        1.00000000e+00, -3.98042770e-14, -1.00000000e+00,  0.00000000e+00,
        1.99021385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00973111, -0.05954849,  0.06173575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.87433865e-05,-9.04350356e-04,-2.47047420e-04,-8.06810928e-05,
  3.98230215e-05,-8.09880255e-04,-1.73715396e-04,-1.53341515e-05,
  2.53487059e-05,-4.63296820e-04,-1.97871376e-04,-3.11669438e-06,
 -9.36681656e-06, 2.80829101e-05, 1.64820936e-05, 6.18027310e-05,
  1.54276721e-02, 4.31836459e-03,-4.90553581e+00, 4.36887219e-05,
  3.08208713e-02, 7.18812168e-03]


--- Step 2068 ---
qpos:
[ 4.79848386e-04, 8.51158476e-01,-2.53227035e-02,-3.60342727e-04,
 -2.54387730e-03, 8.48699919e-01,-2.72239909e-02, 2.84422464e-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,
  6.89677155e-03,-4.28237675e-02, 7.84586607e-02, 6.95791833e-01,
 -8.28055278e-02,-7.07331370e-01,-9.32700580e-02]

qacc:
[ 5.69603048e-01,-7.34525824e+00, 1.59845781e+01,-1.93517800e+01,
 -1.04339733e-03,-1.05369379e+01, 2.64903660e+01,-2.88788764e+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,
  3.14273903e+00, 3.83573830e+00, 5.65704679e+00,-6.86466428e+00,
  1.16713598e+02, 2.69892808e+02]

qfrc_actuator:
[-0.00062635, 0.04234835, 0.01039587, 0.00238717,-0.00039664, 0.04085145,
  0.00882973, 0.00184473,-0.00226398, 0.03440509, 0.00798572, 0.00148787,
  0.        ,-0.00144492, 0.        ,-0.00088597, 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: -0.0028606945378647775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94047811e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.94047811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00200587, -0.05788168,  0.06172977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00562620e-04,-8.69637911e-04,-2.57402230e-04,-7.52460172e-05,
 -8.47863269e-07,-8.43213531e-04,-1.80979302e-04,-6.29360851e-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,
  1.38091492e-02, 6.11048644e-04,-4.90535489e+00,-1.93131128e-04,
  3.08146264e-02, 7.18974627e-03]


--- Step 2069 ---
qpos:
[ 4.20614730e-04, 8.51470273e-01,-2.52833683e-02,-3.43950679e-04,
 -2.55188965e-03, 8.48980635e-01,-2.72143967e-02, 2.84862340e-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,
  6.85769355e-03,-4.28001582e-02, 7.84455655e-02, 6.94892166e-01,
 -8.32467052e-02,-7.08220738e-01,-9.28345320e-02]

qacc:
[ 6.98221574e-01,-3.09256027e+00,-1.21846748e+00, 8.51435355e+00,
 -4.74862170e-02,-1.03389799e+01, 2.90108138e+01,-4.18192999e+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,
  4.74311324e+00, 2.87955089e+00, 7.46066331e-02,-1.40135937e+01,
  2.08377583e+02, 2.59582859e+02]

qfrc_actuator:
[-0.00054917, 0.04200862, 0.01028817, 0.0023832 ,-0.00040511, 0.04055041,
  0.00883207, 0.00179443,-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, -8.12599204, -2.92489834, -8.12599204, 10.79906374,
       -6.00844261, -2.92489834, -6.00844261, 25.32909996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029304724567888046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84140964e-14, -3.78854618e-14,  1.00000000e+00,  1.07648116e-27,
        1.00000000e+00,  3.78854618e-14, -1.00000000e+00,  0.00000000e+00,
        2.84140964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02847419, -0.06316419,  0.0617242 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23583985e-04,-8.90293587e-04,-3.24482305e-04,-5.21663790e-05,
 -8.97374188e-06,-8.19682688e-04,-1.98682359e-04,-9.43874850e-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,
  9.47534792e-03,-2.06681680e-03,-4.90520159e+00,-4.00800600e-04,
  3.08069584e-02, 7.19872289e-03]


--- Step 2070 ---
qpos:
[ 3.63098866e-04, 8.51775179e-01,-2.52454992e-02,-3.28414801e-04,
 -2.55977686e-03, 8.49255915e-01,-2.72055789e-02, 2.85196709e-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,
  6.83548238e-03,-4.27663281e-02, 7.84284810e-02, 6.94293917e-01,
 -8.39971278e-02,-7.08811220e-01,-9.21254210e-02]

qacc:
[ 9.14409171e-01,-6.76948093e+00, 1.45382097e+01,-2.19480970e+01,
  6.81197738e-02,-7.17981115e+00, 1.96351122e+01,-3.26637461e+01,
  1.71380440e-01,-9.90047088e+00, 3.13355011e+01,-4.11839525e+01,
 -4.36831800e-01, 6.79231126e-01,-1.29964232e+00, 4.61525780e+00,
  4.21670598e+00, 2.55521221e+00,-9.97323211e-01,-1.18941386e+01,
  1.84839963e+02, 2.30994626e+02]

qfrc_actuator:
[-0.00044446, 0.04164844, 0.010209  , 0.00233878,-0.00038917, 0.0403323 ,
  0.0088119 , 0.00174534,-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,  -3.47125901,  -7.9080426 ,  -3.47125901,
        74.63027168, -28.96822378,  -7.9080426 , -28.96822378,
        21.35205231,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003006164498438345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.8465773e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.8465773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02832702, -0.06309365,  0.06171811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61973877e-04,-9.34990905e-04,-3.07614883e-04,-9.53647789e-05,
  1.16218603e-05,-7.28436128e-04,-2.19543963e-04,-9.33747443e-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,
  4.53587999e-03,-2.97175111e-03,-4.90516835e+00,-5.00436949e-04,
  3.08094484e-02, 7.20849487e-03]


--- Step 2071 ---
qpos:
[ 3.07468746e-04, 8.52073698e-01,-2.52089679e-02,-3.12926327e-04,
 -2.56747114e-03, 8.49525296e-01,-2.71973458e-02, 2.85576945e-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,
  6.82834829e-03,-4.27233753e-02, 7.84036890e-02, 6.93964606e-01,
 -8.50241357e-02,-7.09134607e-01,-9.11708913e-02]

qacc:
[ 1.00331264e+00,-4.79802084e+00, 5.06166370e+00, 9.50224971e-01,
  1.04596460e-01,-5.21511845e+00, 5.34738701e+00, 7.85941155e+00,
  1.89789892e-01,-7.42349864e+00, 2.09711975e+01,-2.41811313e+01,
 -3.49243694e+00, 3.61112421e+00,-3.55854440e+00, 1.33003054e+01,
  3.76927148e+00, 2.28066520e+00,-1.92688278e+00,-1.00461377e+01,
  1.64987045e+02, 2.06825456e+02]

qfrc_actuator:
[-0.0003419 , 0.04138552, 0.01016498, 0.00234194,-0.00037654, 0.04002358,
  0.00877899, 0.00176843,-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,  -4.2442182 ,  -7.52152835,  -4.2442182 ,
        65.68714607, -32.1923893 ,  -7.52152835, -32.1923893 ,
        26.80175742,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003029195351763825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83253785e-14, -1.83253785e-14,  1.00000000e+00,  3.35819495e-28,
        1.00000000e+00,  1.83253785e-14, -1.00000000e+00,  0.00000000e+00,
        1.83253785e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0282801 , -0.06307141,  0.06171616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77893446e-04,-8.60915259e-04,-2.81044213e-04,-4.99500540e-05,
  1.79971824e-05,-7.72153191e-04,-2.15928851e-04,-1.79675171e-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,
  1.66565514e-03,-2.64776008e-03,-4.90526233e+00,-4.82942132e-04,
  3.08224917e-02, 7.21087455e-03]


--- Step 2072 ---
qpos:
[ 2.53029350e-04, 8.52364983e-01,-2.51719116e-02,-2.97207779e-04,
 -2.57515133e-03, 8.49788273e-01,-2.71894021e-02, 2.86020043e-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,
  6.83734527e-03,-4.26772549e-02, 7.83716164e-02, 6.93966317e-01,
 -8.62063264e-02,-7.09128965e-01,-9.00851303e-02]

qacc:
[ 6.35422137e-01,-1.05458687e+01, 2.27643216e+01,-1.43141516e+01,
  9.69969065e-03,-6.35223483e+00, 7.72295814e+00, 8.32049673e+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,
  4.03276480e+00, 7.91904481e-01,-1.82012934e+00,-8.24182855e+00,
  2.18884207e+02, 1.29635306e+02]

qfrc_actuator:
[-0.0003125 , 0.04102343, 0.01019577, 0.00235541,-0.00038374, 0.03968087,
  0.0087563 , 0.00179825,-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, -5.28587498,  6.82980985, -5.28587498, 31.71664412,
       17.86279266,  6.82980985, 17.86279266, 22.46112464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003020744203000067
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83766474e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.83766474e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03649768, -0.04919706,  0.06171656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12270056e-04,-9.11064808e-04,-1.86031727e-04,-3.46367436e-05,
  1.13575818e-06,-8.26451900e-04,-2.11626692e-04,-1.15211337e-05,
  2.65336925e-05,-3.81863797e-04,-8.98328131e-05,-2.79832078e-05,
  1.72981812e-04,-6.37755198e-05,-3.12087231e-07,-1.30032361e-05,
  3.06033248e-04,-1.45848948e-03,-4.90543678e+00,-3.77294337e-04,
  3.08419976e-02, 7.20794429e-03]


--- Step 2073 ---
qpos:
[ 1.99364716e-04, 8.52648512e-01,-2.51341962e-02,-2.81402517e-04,
 -2.58302690e-03, 8.50045492e-01,-2.71818223e-02, 2.86486808e-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,
  6.86083783e-03,-4.26282785e-02, 7.83289578e-02, 6.94264280e-01,
 -8.75276695e-02,-7.08827397e-01,-8.88804738e-02]

qacc:
[ 4.14645250e-01,-1.19024192e+01, 2.72091558e+01,-2.10733629e+01,
 -1.02143965e-01,-6.10091488e+00, 9.71513941e+00,-8.08903405e-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,
  3.62389792e+00, 7.13992145e-01,-2.64651490e+00,-6.68738177e+00,
  1.96328939e+02, 1.16692665e+02]

qfrc_actuator:
[-0.00029155, 0.04060523, 0.01021686, 0.00235707,-0.00040276, 0.03944491,
  0.00875743, 0.00181399,-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,  -6.29820412,  -5.90926405,  -6.29820412,
        36.7346539 , -29.94768316,  -5.90926405, -29.94768316,
        40.55516434,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0030076621882922164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.84565778e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.84565778e-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([-0.036514  , -0.04919878,  0.06171716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.29804613e-05,-9.74763459e-04,-1.93798913e-04,-4.50032970e-05,
 -1.85858551e-05,-7.48750530e-04,-1.98208566e-04,-2.76389834e-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,
  1.45064561e-04, 8.82494374e-04,-4.90558110e+00,-1.58604269e-04,
  3.08598403e-02, 7.19866572e-03]


--- Step 2074 ---
qpos:
[ 1.46788100e-04, 8.52926071e-01,-2.50986682e-02,-2.65051287e-04,
 -2.59070405e-03, 8.50297436e-01,-2.71744112e-02, 2.87098339e-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,
  6.89847086e-03,-4.25911947e-02, 7.82834064e-02, 6.94909023e-01,
 -8.85836582e-02,-7.08184500e-01,-8.79152946e-02]

qacc:
[ 5.78331140e-01,-6.55216495e-01,-1.14181121e+01, 2.87557840e+01,
  1.07541029e-01,-3.51649728e+00,-3.68603514e+00, 3.28856336e+01,
  1.52936107e-01,-7.09923799e+00, 1.78615454e+01,-1.50264062e+01,
 -3.27205295e+00, 2.57901971e+00,-4.23438631e+00, 1.52237506e+01,
  3.53511706e+00,-2.97313939e+00,-7.23202336e-01, 7.24678334e+00,
  2.63662590e+02,-1.46826810e+02]

qfrc_actuator:
[-0.00022248, 0.04036983, 0.01012527, 0.0023872 ,-0.00037539, 0.03923941,
  0.00877305, 0.00189244,-0.00217746, 0.03344175, 0.00818875, 0.00145256,
  0.        ,-0.00139385, 0.        ,-0.00072182, 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: -0.0030399752004732147
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82603961e-14, -1.82603961e-14,  1.00000000e+00,  3.33442065e-28,
        1.00000000e+00,  1.82603961e-14, -1.00000000e+00,  0.00000000e+00,
        1.82603961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02735074, -0.01418744,  0.06171388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02641295e-04,-8.29464829e-04,-3.20892869e-04,-1.97240521e-05,
  1.85477534e-05,-6.72621387e-04,-1.66530453e-04, 3.85552896e-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,
  1.30330585e-03, 3.36216506e-03,-4.90576036e+00, 9.69989989e-05,
  3.08771055e-02, 7.18695888e-03]


--- Step 2075 ---
qpos:
[ 9.55582403e-05, 8.53198486e-01,-2.50651270e-02,-2.47907815e-04,
 -2.59770599e-03, 8.50543616e-01,-2.71667082e-02, 2.87801258e-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,
  6.94882528e-03,-4.25649643e-02, 7.82318311e-02, 6.95863226e-01,
 -8.93980686e-02,-7.07237012e-01,-8.71674565e-02]

qacc:
[ 7.15329079e-01, 3.84451756e-01,-1.45785596e+01, 3.52503350e+01,
  3.61731643e-01,-6.54382892e+00, 8.42821681e+00, 1.11521110e+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,
  3.18034590e+00,-2.71336106e+00,-1.50595948e+00, 7.29603719e+00,
  2.35655216e+02,-1.33963079e+02]

qfrc_actuator:
[-0.0001429 , 0.04019215, 0.01005742, 0.00243391,-0.00032052, 0.03892973,
  0.00877956, 0.00193619,-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,  -7.69577259,  -3.91942102,  -7.69577259,
        18.3297932 , -19.03302278,  -3.91942102, -19.03302278,
        46.00765249,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0030832786638270568
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.08421451e-07, -7.08421471e-07,  1.00000000e+00, -5.01860967e-13,
        1.00000000e+00,  7.08421471e-07, -1.00000000e+00,  0.00000000e+00,
       -7.08421451e-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([-0.02618347, -0.01452557,  0.06170959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27150953e-04,-7.15487032e-04,-2.81866977e-04,-8.09480663e-07,
  6.34955520e-05,-7.24714388e-04,-1.53683059e-04, 9.51427904e-06,
  5.09630838e-06,-3.13395178e-04,-1.12888455e-04,-1.91368400e-05,
  7.28963093e-04,-1.42695162e-04,-6.21858719e-06,-6.30324451e-05,
  3.70309006e-03, 4.42582210e-03,-4.90552184e+00, 3.35070788e-04,
  3.08521600e-02, 7.17688168e-03]


--- Step 2076 ---
qpos:
[ 4.51057356e-05, 8.53465082e-01,-2.50317175e-02,-2.30391682e-04,
 -2.60420472e-03, 8.50784137e-01,-2.71595200e-02, 2.88520218e-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,
  7.01080775e-03,-4.25512702e-02, 7.81799182e-02, 6.97102124e-01,
 -8.99330527e-02,-7.06008937e-01,-8.66721204e-02]

qacc:
[ 4.14477373e-01,-6.55099034e+00, 1.06288291e+01, 3.03544251e-01,
  2.69518749e-01,-5.70659890e+00, 8.81937113e+00,-1.06312907e+00,
 -2.15023438e-01,-1.85559489e+00,-8.59682855e-01, 1.45678872e+01,
 -3.07944373e+00, 2.65814850e+00, 6.96124581e+00,-2.32322804e+01,
  2.90701369e+00,-3.13407462e+00,-8.44122228e-02, 8.42851498e+00,
  2.21763329e+02,-1.61713823e+02]

qfrc_actuator:
[-0.00012873, 0.03990866, 0.01005774, 0.00245461,-0.00030295, 0.03863116,
  0.0087447 , 0.00194133,-0.00222762, 0.03329936, 0.00819136, 0.00149326,
  0.        ,-0.00133795, 0.        ,-0.00089502, 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: -0.0031069126470989195
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78669816e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78669816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01616451, -0.01707018,  0.06170672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.33309370e-05,-7.48564242e-04,-1.84634676e-04,-2.02171344e-05,
  4.72873126e-05,-7.41187138e-04,-2.05186495e-04,-3.14451279e-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,
  6.90778955e-03, 4.33780120e-03,-4.90540626e+00, 4.74938848e-04,
  3.08323630e-02, 7.17420861e-03]


--- Step 2077 ---
qpos:
[-4.68889118e-06, 8.53726123e-01,-2.49989064e-02,-2.13811556e-04,
 -2.61033137e-03, 8.51020045e-01,-2.71536212e-02, 2.89265391e-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,
  7.08185868e-03,-4.25526042e-02, 7.81363493e-02, 6.98574056e-01,
 -9.01352127e-02,-7.04550155e-01,-8.64812734e-02]

qacc:
[ 3.50525633e-01,-7.59009331e+00, 2.03669165e+01,-3.15315493e+01,
  1.98798358e-01,-1.95096248e+00,-2.99291498e+00, 1.29821397e+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,
  2.26711493e+00,-3.75701600e+00, 2.08598497e+00, 9.00098496e+00,
  1.90791080e+02,-2.03145536e+02]

qfrc_actuator:
[-0.00010052, 0.03963542, 0.0100269 , 0.00240654,-0.00029011, 0.03846572,
  0.00870347, 0.00195919,-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: -0.003095326943400374
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.58677143e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.58677143e-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([-0.0049865 , -0.02002771,  0.06170661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.20533091e-05,-7.37422649e-04,-2.11275674e-04,-8.74029900e-05,
  3.49523107e-05,-6.29515091e-04,-2.22678176e-04,-2.19960638e-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,
  1.06417642e-02, 2.94155872e-03,-4.90537495e+00, 5.08179784e-04,
  3.08149975e-02, 7.17905359e-03]


--- Step 2078 ---
qpos:
[-5.36071283e-05, 8.53982317e-01,-2.49676099e-02,-1.98663643e-04,
 -2.61599005e-03, 8.51251722e-01,-2.71483608e-02, 2.90050315e-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,
  7.15600581e-03,-4.25714192e-02, 7.81109946e-02, 7.00159517e-01,
 -8.99517509e-02,-7.02976666e-01,-8.66552959e-02]

qacc:
[ 4.65428875e-01,-5.12053772e+00, 1.50088244e+01,-3.38116393e+01,
  2.50063007e-01,-2.98841078e+00, 8.63097229e-01, 1.01473364e+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,
  7.74049992e-01,-4.37026378e+00, 4.55356168e+00, 6.31467917e+00,
  1.13176873e+02,-2.53210816e+02]

qfrc_actuator:
[-4.63099340e-05, 3.94236435e-02, 9.96011879e-03, 2.33612118e-03,
 -2.62424644e-04, 3.83103611e-02, 8.69489539e-03, 1.98452433e-03,
 -2.23527882e-03, 3.30041806e-02, 8.09633969e-03, 1.51311372e-03,
  0.00000000e+00,-1.36175880e-03, 0.00000000e+00,-8.41662549e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003108024488441219
  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([ 0.00726003, -0.02329865,  0.06170459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27539077e-05,-6.77961702e-04,-2.50464006e-04,-1.11491929e-04,
  4.40227769e-05,-5.60071531e-04,-1.68735332e-04,-1.01556111e-05,
 -2.47679353e-06,-3.21703156e-04,-1.80243236e-04,-2.29086678e-05,
  1.24501272e-03,-1.49622760e-04,-2.28256634e-05, 5.82096050e-05,
  1.40907300e-02, 1.10763749e-04,-4.90544423e+00, 4.05805743e-04,
  3.08032574e-02, 7.19109558e-03]


--- Step 2079 ---
qpos:
[-1.02136580e-04, 8.54233500e-01,-2.49363295e-02,-1.84570654e-04,
 -2.62142003e-03, 8.51479077e-01,-2.71430114e-02, 2.90785578e-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,
  7.23297017e-03,-4.26059553e-02, 7.80979335e-02, 7.01846602e-01,
 -8.94223611e-02,-7.01297862e-01,-8.71567430e-02]

qacc:
[ 2.07865639e-01,-8.74392288e+00, 2.60243320e+01,-4.05788610e+01,
  1.23222736e-01,-6.97498979e+00, 1.86852068e+01,-2.42528447e+01,
  5.09095020e-02,-4.26379280e+00, 1.27569971e+01,-1.94211946e+01,
 -2.79167980e+00, 1.81578974e+00,-4.26220601e+00, 1.51816416e+01,
  7.04305749e-01,-3.93025656e+00, 3.07340370e+00, 6.02408124e+00,
  1.02303542e+02,-2.27074715e+02]

qfrc_actuator:
[-4.80026941e-05, 3.92147636e-02, 9.97945303e-03, 2.28867048e-03,
 -2.61584628e-04, 3.81092640e-02, 8.70578317e-03, 1.96084066e-03,
 -2.22525041e-03, 3.29257427e-02, 8.11885094e-03, 1.49394942e-03,
  0.00000000e+00,-1.37134639e-03, 0.00000000e+00,-7.68524435e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031052555028663748
  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([ 0.00726428, -0.02330611,  0.06170406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66388799e-05,-6.50812477e-04,-1.57681484e-04,-8.77911012e-05,
  2.14532624e-05,-5.55224649e-04,-1.27837570e-04,-5.40930079e-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,
  1.54641407e-02,-3.74901972e-03,-4.90558663e+00, 1.53503408e-04,
  3.08009585e-02, 7.20431103e-03]


--- Step 2080 ---
qpos:
[-1.50296802e-04, 8.54479198e-01,-2.49049394e-02,-1.70423216e-04,
 -2.62709180e-03, 8.51701859e-01,-2.71374357e-02, 2.91384707e-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,
  7.28445165e-03,-4.26472322e-02, 7.80869723e-02, 7.03022445e-01,
 -8.86526448e-02,-7.00119753e-01,-8.79345366e-02]

qacc:
[ 1.97763716e-01,-7.43632591e+00, 1.57728610e+01,-1.09813085e+01,
 -1.26807109e-01,-9.47018692e+00, 3.07497187e+01,-5.13201417e+01,
 -1.42448899e-01,-7.43919544e+00, 2.39295575e+01,-3.36909253e+01,
 -2.66555884e+00, 1.32781293e+00,-2.19448287e-01, 1.47886118e+00,
 -6.37071772e+00,-1.68521961e+00, 5.24993012e-01,-1.36032352e+01,
 -3.32143649e+02,-2.25912536e+02]

qfrc_actuator:
[-2.98398404e-05, 3.89209589e-02, 9.97855106e-03, 2.29070108e-03,
 -2.94551107e-04, 3.78647508e-02, 8.71012263e-03, 1.89072948e-03,
 -2.25605634e-03, 3.27984404e-02, 8.17172573e-03, 1.46581624e-03,
  0.00000000e+00,-1.43158848e-03, 0.00000000e+00,-7.61953087e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003215856881882001
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.63084914e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.63084914e-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([ 0.05223083, -0.03560539,  0.06169451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47829712e-05,-7.00259660e-04,-1.60015709e-04,-3.34638756e-05,
 -2.29540133e-05,-5.89262928e-04,-1.29831049e-04,-9.97448385e-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,
  1.67744149e-02,-7.53277514e-03,-4.90585601e+00,-1.47232448e-04,
  3.08044628e-02, 7.21975191e-03]


--- Step 2081 ---
qpos:
[-1.97597505e-04, 8.54719498e-01,-2.48743116e-02,-1.57010464e-04,
 -2.63306107e-03, 8.51919701e-01,-2.71316896e-02, 2.91899662e-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,
  7.31356249e-03,-4.26944123e-02, 7.80733886e-02, 7.03750784e-01,
 -8.76707308e-02,-6.99382225e-01,-8.89560610e-02]

qacc:
[ 4.56878263e-01,-6.51375810e+00, 1.59762233e+01,-2.35075662e+01,
 -1.56267638e-01,-8.73023867e+00, 2.52134951e+01,-3.64309240e+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,
 -5.59266130e+00,-1.47579930e+00,-6.55646706e-01,-1.11955088e+01,
 -2.91389647e+02,-1.99160913e+02]

qfrc_actuator:
[ 3.56056862e-05, 3.86319347e-02, 9.92988282e-03, 2.25072254e-03,
 -3.11917213e-04, 3.75961688e-02, 8.71036024e-03, 1.84708307e-03,
 -2.24002059e-03, 3.27318291e-02, 8.24188189e-03, 1.45035392e-03,
  0.00000000e+00,-1.41507888e-03, 0.00000000e+00,-7.23646213e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003362611507406771
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65083451e-14, -1.65083451e-14,  1.00000000e+00,  2.72525458e-28,
        1.00000000e+00,  1.65083451e-14, -1.00000000e+00,  0.00000000e+00,
        1.65083451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05195553, -0.03565653,  0.06168232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.11985887e-05,-7.21152386e-04,-2.16358509e-04,-7.66061347e-05,
 -2.82284769e-05,-6.34625219e-04,-1.42750316e-04,-7.56862363e-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,
  7.52654218e-03,-6.42998647e-03,-4.90551862e+00,-3.25740939e-04,
  3.07971042e-02, 7.19815083e-03]


--- Step 2082 ---
qpos:
[-2.43702133e-04, 8.54954481e-01,-2.48448288e-02,-1.44517830e-04,
 -2.63906536e-03, 8.52132551e-01,-2.71256647e-02, 2.92323019e-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,
  7.32274274e-03,-4.27318718e-02, 7.80636479e-02, 7.04030718e-01,
 -8.68590883e-02,-6.99094926e-01,-8.97915944e-02]

qacc:
[ 6.34781864e-01,-5.71766874e+00, 1.40779316e+01,-2.42655055e+01,
 -1.66556035e-02,-9.25128074e+00, 2.72888230e+01,-3.99278978e+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,
 -4.98264556e+00, 2.43015939e+00, 9.60752975e-01, 5.49433135e+00,
 -3.30954114e+02, 8.53081739e+01]

qfrc_actuator:
[ 0.00011103, 0.03836564, 0.00987114, 0.00220406,-0.00030202, 0.03735085,
  0.00872585, 0.00180159,-0.00223159, 0.03264897, 0.00828642, 0.00151354,
  0.        ,-0.00137042, 0.        ,-0.00072018, 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: -0.003471791172548644
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39905469e-14, -1.59891965e-14,  1.00000000e+00,  2.23697604e-28,
        1.00000000e+00,  1.59891965e-14, -1.00000000e+00,  0.00000000e+00,
        1.39905469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04626842, -0.05751721,  0.06167331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13080420e-04,-7.23449182e-04,-2.39138638e-04,-8.69667619e-05,
 -3.45141337e-06,-6.38247382e-04,-1.37581017e-04,-7.94483366e-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,
  2.42122650e-03,-4.37541295e-03,-4.90529196e+00,-4.04739493e-04,
  3.07822862e-02, 7.18909867e-03]


--- Step 2083 ---
qpos:
[-2.88583383e-04, 8.55184413e-01,-2.48167693e-02,-1.32704660e-04,
 -2.64499761e-03, 8.52340697e-01,-2.71202271e-02, 2.92724752e-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,
  7.31430503e-03,-4.27607453e-02, 7.80528918e-02, 7.03915592e-01,
 -8.61969946e-02,-6.99206218e-01,-9.04631517e-02]

qacc:
[ 6.48836647e-01,-4.09533255e+00, 7.78540367e+00,-1.35565103e+01,
  3.95912376e-02,-5.01726731e+00, 9.78363462e+00,-9.13226797e+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,
 -4.40449155e+00, 2.14651352e+00,-2.53857043e-01, 5.41170847e+00,
 -2.92237641e+02, 7.49494312e+01]

qfrc_actuator:
[ 0.00017401, 0.03813281, 0.00980703, 0.00217162,-0.00029366, 0.03712151,
  0.00869707, 0.0017909 ,-0.00224556, 0.0325038 , 0.00820898, 0.0015337 ,
  0.        ,-0.00139798, 0.        ,-0.00096805, 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: -0.003547010139449955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36938592e-14, -3.13002495e-14,  1.00000000e+00,  4.28621209e-28,
        1.00000000e+00,  3.13002495e-14, -1.00000000e+00,  0.00000000e+00,
        1.36938592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04615004, -0.05746318,  0.0616672 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15695193e-04,-6.96274687e-04,-2.48086311e-04,-7.38239333e-05,
  6.65962830e-06,-6.23259344e-04,-1.82063343e-04,-4.46825330e-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,
  2.23770805e-04,-1.08016119e-03,-4.90514377e+00,-2.77804689e-04,
  3.07840765e-02, 7.19105011e-03]


--- Step 2084 ---
qpos:
[-3.32499943e-04, 8.55409775e-01,-2.47897557e-02,-1.21814873e-04,
 -2.65044236e-03, 8.52544245e-01,-2.71150776e-02, 2.93209996e-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,
  7.29020454e-03,-4.27819882e-02, 7.80368977e-02, 7.03449549e-01,
 -8.56670128e-02,-6.99671968e-01,-9.09891812e-02]

qacc:
[ 5.11765635e-01,-5.01670319e+00, 1.30213101e+01,-2.39713127e+01,
  2.60515681e-01,-3.54928278e+00, 3.15012487e-01, 1.79765809e+01,
 -7.44311986e-02, 1.91328779e+00,-8.29586883e+00, 5.17902597e+00,
 -2.26899707e+00, 2.45541116e+00, 9.15254093e+00,-3.14757938e+01,
 -3.91569487e+00, 1.90764010e+00,-1.30949117e+00, 5.28788033e+00,
 -2.59684265e+02, 6.62571581e+01]

qfrc_actuator:
[ 0.00021126, 0.03795743, 0.00977595, 0.00213008,-0.0002508 , 0.03692122,
  0.00869573, 0.00183627,-0.00225506, 0.03241072, 0.0081131 , 0.00151049,
  0.        ,-0.00127313, 0.        ,-0.00111346, 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: -0.0035649866751151366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94640108e-15, -3.11424172e-14,  1.00000000e+00, -6.06156344e-29,
        1.00000000e+00,  3.11424172e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94640108e-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([ 0.0461208 , -0.05744956,  0.06166567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.12320615e-05,-6.24784509e-04,-2.10043628e-04,-8.17957023e-05,
  4.59069958e-05,-5.93401779e-04,-1.55757954e-04, 1.11611153e-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,
  2.28391264e-04, 7.59893971e-04,-4.90510183e+00,-1.99683595e-04,
  3.07868035e-02, 7.19259371e-03]


--- Step 2085 ---
qpos:
[-3.75738872e-04, 8.55630469e-01,-2.47631886e-02,-1.10855847e-04,
 -2.65555377e-03, 8.52743639e-01,-2.71099714e-02, 2.93737611e-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,
  7.25210496e-03,-4.27964100e-02, 7.80120063e-02, 7.02669254e-01,
 -8.52544220e-02,-7.00454388e-01,-9.13851937e-02]

qacc:
[ 3.60156059e-01,-4.77408600e+00, 7.78361796e+00,-2.44439171e+00,
  1.78556291e-01,-4.49329471e+00, 6.26827301e+00, 4.18450790e+00,
 -7.01637157e-02,-2.23614448e+00, 2.37742746e+00, 5.23458558e+00,
 -2.22070529e+00, 2.45753095e+00,-7.61553297e+00, 2.57742830e+01,
 -3.49977181e+00, 1.70525947e+00,-2.22432807e+00, 5.14152108e+00,
 -2.32226850e+02, 5.89369664e+01]

qfrc_actuator:
[ 0.00023285, 0.03774705, 0.00976487, 0.00213686,-0.00024096, 0.0367579 ,
  0.00871079, 0.00186105,-0.00226179, 0.03233168, 0.00813158, 0.00153301,
  0.        ,-0.00121777, 0.        ,-0.00098421, 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: -0.0035364555870618097
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56968326e-14,  1.56968326e-14,  1.00000000e+00, -2.46390553e-28,
        1.00000000e+00, -1.56968326e-14, -1.00000000e+00,  0.00000000e+00,
        1.56968326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0461625 , -0.05746795,  0.0616678 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40557142e-05,-6.12178656e-04,-1.70813633e-04,-2.92434563e-05,
  3.13657422e-05,-5.31803740e-04,-1.27977763e-04,-6.14574364e-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,
  1.76476951e-03, 1.55615810e-03,-4.90513606e+00,-1.54518130e-04,
  3.07903067e-02, 7.19340910e-03]


--- Step 2086 ---
qpos:
[-4.18348295e-04, 8.55846317e-01,-2.47369262e-02,-9.98959057e-05,
 -2.66099004e-03, 8.52938976e-01,-2.71053232e-02, 2.94188102e-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,
  7.20143105e-03,-4.28047006e-02, 7.79750543e-02, 7.01605221e-01,
 -8.49467656e-02,-7.01521080e-01,-9.16642549e-02]

qacc:
[ 3.34759615e-01,-5.54887430e+00, 1.04887625e+01,-6.42671872e+00,
 -1.71378609e-01,-5.66248572e+00, 1.56725529e+01,-2.53117051e+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,
 -3.14358482e+00, 1.53280599e+00,-3.01513797e+00, 4.98667340e+00,
 -2.09027564e+02, 5.27574484e+01]

qfrc_actuator:
[ 0.00026269, 0.03749983, 0.00974787, 0.0021365 ,-0.00028647, 0.03654713,
  0.0086823 , 0.00182029,-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: -0.0034705064019848464
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.99755782e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.99755782e-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([ 0.04626061, -0.05751171,  0.06167283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.95033321e-05,-6.31493327e-04,-1.67445998e-04,-3.34522560e-05,
 -3.08150753e-05,-5.39702963e-04,-1.55944801e-04,-6.84102286e-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,
  4.36173695e-03, 1.60220997e-03,-4.90521566e+00,-1.31115815e-04,
  3.07943992e-02, 7.19334213e-03]


--- Step 2087 ---
qpos:
[-4.60113617e-04, 8.56057418e-01,-2.47116378e-02,-8.96896631e-05,
 -2.66646723e-03, 8.53129829e-01,-2.71006083e-02, 2.94553066e-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,
  7.13941097e-03,-4.28074512e-02, 7.79233136e-02, 7.00282851e-01,
 -8.47334889e-02,-7.02844265e-01,-9.18373770e-02]

qacc:
[ 4.47743899e-01,-5.09968682e+00, 1.22651685e+01,-2.02650369e+01,
 -2.00966631e-02,-7.86669515e+00, 2.30647682e+01,-3.46842182e+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,
 -2.83654024e+00, 1.38500709e+00,-3.69719307e+00, 4.83374084e+00,
 -1.89418317e+02, 4.75340871e+01]

qfrc_actuator:
[ 0.00031501, 0.03725032, 0.00969184, 0.0020964 ,-0.0002759 , 0.03630946,
  0.00868138, 0.00177675,-0.00235225, 0.03215322, 0.00819027, 0.00152743,
  0.        ,-0.00130826, 0.        ,-0.00104218, 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: -0.0033748396445815038
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.644853e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        1.644853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04640338, -0.05757546,  0.06168015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.98508510e-05,-6.43957953e-04,-2.10150746e-04,-7.39843197e-05,
 -3.99808877e-06,-5.79367265e-04,-1.35576173e-04,-7.37091015e-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,
  7.68856031e-03, 1.10810937e-03,-4.90531262e+00,-1.21563829e-04,
  3.07988689e-02, 7.19232777e-03]


--- Step 2088 ---
qpos:
[-5.00983337e-04, 8.56263726e-01,-2.46872934e-02,-7.93554342e-05,
 -2.67187325e-03, 8.53316564e-01,-2.70959508e-02, 2.95031175e-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,
  7.07378681e-03,-4.27938971e-02, 7.78811154e-02, 6.98850531e-01,
 -8.48584520e-02,-7.04277815e-01,-9.16500815e-02]

qacc:
[ 4.74987021e-01,-3.43105311e+00, 2.50400877e+00, 4.74210074e+00,
  3.93029939e-02,-2.94946529e+00,-2.15397697e+00, 2.48523913e+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,
 -9.01020232e-01, 4.07618604e+00, 2.38564596e+00, 8.63659018e+00,
 -1.08083718e+02, 2.35337651e+02]

qfrc_actuator:
[ 0.00036261, 0.03701902, 0.00964869, 0.00210421,-0.00026734, 0.03614647,
  0.00869665, 0.00183843,-0.0023397 , 0.03207785, 0.00815261, 0.00154479,
  0.        ,-0.0012794 , 0.        ,-0.00113506, 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: -0.003328801324033237
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.66760181e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.66760181e-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([ 0.0206296 , -0.06324326,  0.06168341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.47458700e-05,-6.43147836e-04,-2.06462507e-04,-2.88593838e-05,
  6.60407330e-06,-5.22779252e-04,-1.25209170e-04, 3.04358914e-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,
  1.15145121e-02, 2.24092625e-04,-4.90540298e+00,-1.20276709e-04,
  3.08034829e-02, 7.19034384e-03]


--- Step 2089 ---
qpos:
[-5.40592446e-04, 8.56464657e-01,-2.46626203e-02,-6.90286986e-05,
 -2.67735698e-03, 8.53499698e-01,-2.70920453e-02, 2.95680493e-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,
  7.01195195e-03,-4.27643455e-02, 7.78590432e-02, 6.97455283e-01,
 -8.53335590e-02,-7.05672183e-01,-9.11102698e-02]

qacc:
[ 6.69005753e-01,-8.03450740e+00, 1.83716300e+01,-1.50805884e+01,
 -4.03231505e-02, 8.66759740e-01,-1.72231729e+01, 5.07064115e+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,
  9.47324953e-01, 3.99936444e+00, 5.03146757e+00, 1.56297507e+00,
 -4.25664054e+00, 2.49838879e+02]

qfrc_actuator:
[ 0.00044248, 0.03674734, 0.00966689, 0.00210469,-0.00027784, 0.03599421,
  0.00866848, 0.00192611,-0.00227924, 0.03203021, 0.00820529, 0.0015377 ,
  0.        ,-0.00131691, 0.        ,-0.00108124, 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: -0.003330288702059328
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.33371405e-14,  1.66685703e-14,  1.00000000e+00, -5.55682469e-28,
        1.00000000e+00, -1.66685703e-14, -1.00000000e+00,  0.00000000e+00,
        3.33371405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00985796, -0.0590828 ,  0.06168305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19354839e-04,-6.80263753e-04,-1.42888011e-04,-3.51457887e-05,
 -7.45522301e-06,-4.73707344e-04,-1.52051400e-04, 6.12414977e-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,
  1.27449312e-02,-3.04039243e-03,-4.90536336e+00,-2.78647202e-04,
  3.08019896e-02, 7.18457274e-03]


--- Step 2090 ---
qpos:
[-5.78759286e-04, 8.56660578e-01,-2.46377807e-02,-5.88202425e-05,
 -2.68273252e-03, 8.53679365e-01,-2.70885543e-02, 2.96286987e-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,
  6.96182055e-03,-4.27293610e-02, 7.78713342e-02, 6.96292212e-01,
 -8.59598078e-02,-7.06830818e-01,-9.04337369e-02]

qacc:
[ 7.64711279e-01,-7.32514205e+00, 1.70142048e+01,-1.56507718e+01,
  5.83761237e-02,-4.30233325e+00, 1.05014359e+01,-1.47047235e+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,
  2.92586528e+00, 1.35822178e+00, 8.59082573e+00,-5.29980379e+00,
  1.51408774e+02, 1.21641580e+02]

qfrc_actuator:
[ 0.00052324, 0.03652493, 0.00968549, 0.00210085,-0.00026414, 0.03583175,
  0.00865047, 0.00190409,-0.00226171, 0.03191119, 0.00825773, 0.00151638,
  0.        ,-0.0013052 , 0.        ,-0.0009947 , 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: -0.003377578321922342
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.28703858e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.28703858e-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([ 0.00032588, -0.04653012,  0.0616793 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36610173e-04,-6.38748775e-04,-1.42492453e-04,-3.89677447e-05,
  1.01233256e-05,-4.60588424e-04,-1.33967853e-04,-4.66885661e-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,
  1.13679742e-02,-5.83826836e-03,-4.90528253e+00,-4.37711015e-04,
  3.07969193e-02, 7.18445017e-03]


--- Step 2091 ---
qpos:
[-6.15774042e-04, 8.56852467e-01,-2.46139255e-02,-4.87912389e-05,
 -2.68794808e-03, 8.53855158e-01,-2.70849031e-02, 2.96863063e-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,
  6.92215479e-03,-4.26894892e-02, 7.79105115e-02, 6.95337175e-01,
 -8.67227071e-02,-7.07779061e-01,-8.96336192e-02]

qacc:
[ 6.10021264e-01,-2.94433639e+00, 3.52645508e+00,-2.09517157e+00,
  8.63696509e-02,-6.18726885e+00, 1.59213984e+01,-1.86004201e+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,
  2.61640808e+00, 1.22181348e+00, 6.72157150e+00,-4.46954606e+00,
  1.35278963e+02, 1.09769268e+02]

qfrc_actuator:
[ 0.00056835, 0.03636939, 0.00965111, 0.00209453,-0.00025384, 0.03562899,
  0.00865627, 0.0018887 ,-0.00225232, 0.03180364, 0.00825605, 0.00146903,
  0.        ,-0.00135281, 0.        ,-0.00096061, 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: -0.00338301150445542
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64087977e-14, -4.92263930e-14,  1.00000000e+00,  8.07745921e-28,
        1.00000000e+00,  4.92263930e-14, -1.00000000e+00,  0.00000000e+00,
        1.64087977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0003245 , -0.04653178,  0.06167936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09135612e-04,-5.48640455e-04,-1.86947275e-04,-3.97193845e-05,
  1.50124612e-05,-4.94360884e-04,-1.08924127e-04,-4.09533986e-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,
  7.50457925e-03,-5.54934630e-03,-4.90519096e+00,-4.23600681e-04,
  3.07991875e-02, 7.18851424e-03]


--- Step 2092 ---
qpos:
[-6.51814827e-04, 8.57040299e-01,-2.45910014e-02,-3.96142828e-05,
 -2.69318952e-03, 8.54026722e-01,-2.70813042e-02, 2.97387245e-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,
  6.89193721e-03,-4.26451635e-02, 7.79702702e-02, 6.94570052e-01,
 -8.76101715e-02,-7.08537589e-01,-8.87208282e-02]

qacc:
[ 5.15749218e-01,-4.51380384e+00, 1.19099920e+01,-2.21857711e+01,
 -1.22532698e-02,-6.50467066e+00, 1.72787949e+01,-2.30740384e+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,
  2.36204729e+00, 1.11350251e+00, 5.14535112e+00,-3.78770365e+00,
  1.21990312e+02, 9.99032429e+01]

qfrc_actuator:
[ 0.00060953, 0.03616622, 0.00960378, 0.00205134,-0.00026342, 0.03538608,
  0.00864044, 0.0018596 ,-0.00228336, 0.03166809, 0.00832896, 0.00144223,
  0.        ,-0.00145325, 0.        ,-0.00101097, 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: -0.0033542093053301678
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24122735e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24122735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00029945, -0.04653995,  0.06168248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22586074e-05,-5.54989657e-04,-1.86752341e-04,-7.42870094e-05,
 -2.57139545e-06,-5.47879388e-04,-1.34212620e-04,-5.51358901e-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,
  4.72517191e-03,-4.99148020e-03,-4.90515595e+00,-3.68377509e-04,
  3.08024762e-02, 7.18999453e-03]


--- Step 2093 ---
qpos:
[-6.87180786e-04, 8.57224604e-01,-2.45694258e-02,-3.10726435e-05,
 -2.69829397e-03, 8.54194297e-01,-2.70782856e-02, 2.97838081e-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,
  6.87692269e-03,-4.26130219e-02, 7.80279436e-02, 6.94149153e-01,
 -8.82341393e-02,-7.08955592e-01,-8.80548666e-02]

qacc:
[ 3.57079668e-01,-2.20014321e+00, 3.76388506e+00,-1.00097969e+01,
  7.36931994e-02,-5.15663789e+00, 1.38351086e+01,-2.26722574e+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,
  3.80076360e+00,-3.04605015e+00,-5.21328196e-01, 4.12501370e+00,
  2.63417280e+02,-1.48793555e+02]

qfrc_actuator:
[ 0.00063031, 0.03602487, 0.00954902, 0.00202226,-0.00024931, 0.035192  ,
  0.00861178, 0.0018226 ,-0.00230279, 0.03153491, 0.00835648, 0.00149878,
  0.        ,-0.00144239, 0.        ,-0.00107517, 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: -0.0033704669564055406
  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([-0.02658701, -0.01473886,  0.06168227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.39078526e-05,-4.98048511e-04,-1.96626316e-04,-6.10958970e-05,
  1.28366170e-05,-5.34706048e-04,-1.61665099e-04,-6.64679275e-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,
  2.76548405e-03,-4.24026737e-03,-4.90515808e+00,-2.81021689e-04,
  3.08062576e-02, 7.18952652e-03]


--- Step 2094 ---
qpos:
[-7.21955897e-04, 8.57405415e-01,-2.45482799e-02,-2.30217683e-05,
 -2.70322383e-03, 8.54358584e-01,-2.70760405e-02, 2.98232776e-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,
  6.87547226e-03,-4.25917390e-02, 7.80795068e-02, 6.94037037e-01,
 -8.86239682e-02,-7.09072116e-01,-8.76077470e-02]

qacc:
[ 3.13222024e-01,-4.42473019e+00, 1.11494785e+01,-1.63897650e+01,
  9.32375684e-02,-3.33723702e+00, 7.96578490e+00,-1.40302349e+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,
  3.39102407e+00,-2.71467013e+00,-1.52755221e+00, 4.03831061e+00,
  2.34055581e+02,-1.32056353e+02]

qfrc_actuator:
[ 0.00065653, 0.03588622, 0.00954385, 0.00200177,-0.00023888, 0.03508193,
  0.00859372, 0.00179903,-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,  -7.61153155,  -4.08060832,  -7.61153155,
        25.17991659, -30.85857928,  -4.08060832, -30.85857928,
        66.19666628,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003416727855969595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62468752e-14, -3.24937505e-14,  1.00000000e+00,  5.27921911e-28,
        1.00000000e+00,  3.24937505e-14, -1.00000000e+00,  0.00000000e+00,
        1.62468752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02652368, -0.01478489,  0.06167957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59558974e-05,-4.64905695e-04,-1.35996940e-04,-5.01366812e-05,
  1.64121815e-05,-4.49383159e-04,-1.52076866e-04,-5.36291355e-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,
  7.58433335e-04,-1.56435066e-03,-4.90500856e+00,-4.67005953e-05,
  3.08040991e-02, 7.18428778e-03]


--- Step 2095 ---
qpos:
[-7.56334354e-04, 8.57582508e-01,-2.45273546e-02,-1.49268793e-05,
 -2.70817338e-03, 8.54520048e-01,-2.70743934e-02, 2.98588230e-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,
  6.88619872e-03,-4.25801969e-02, 7.81214784e-02, 6.94201524e-01,
 -8.88044781e-02,-7.08919577e-01,-8.73558370e-02]

qacc:
[ 2.10796305e-01,-4.20269646e+00, 7.67359936e+00,-3.83010490e+00,
 -9.82153018e-03,-2.86554674e+00, 6.46148778e+00,-1.02228390e+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,
  3.04422108e+00,-2.43518930e+00,-2.39788813e+00, 3.89952694e+00,
  2.09254655e+02,-1.17913489e+02]

qfrc_actuator:
[ 0.00066806, 0.03569729, 0.00953254, 0.00200431,-0.00024851, 0.03498764,
  0.00858245, 0.00178365,-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,  -7.40449686,  -4.445245  ,  -7.40449686,
        28.07909996, -32.38599449,  -4.445245  , -32.38599449,
        62.58209544,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003412558324561374
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62667260e-14, -1.62667260e-14,  1.00000000e+00,  2.64606375e-28,
        1.00000000e+00,  1.62667260e-14, -1.00000000e+00,  0.00000000e+00,
        1.62667260e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02655078, -0.01476717,  0.06168069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75309365e-05,-4.83564575e-04,-1.27402072e-04,-2.33784325e-05,
 -1.94813261e-06,-3.83261739e-04,-1.26008108e-04,-4.12014707e-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,
  3.02920754e-05,-1.94672976e-04,-4.90495488e+00, 8.80142771e-05,
  3.08046029e-02, 7.18418359e-03]


--- Step 2096 ---
qpos:
[-7.90875213e-04, 8.57755830e-01,-2.45075173e-02,-7.14803224e-06,
 -2.71317210e-03, 8.54678241e-01,-2.70730276e-02, 2.98821850e-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,
  6.90792032e-03,-4.25774464e-02, 7.81508502e-02, 6.94614907e-01,
 -8.87967105e-02,-7.08524967e-01,-8.72791340e-02]

qacc:
[-8.51648551e-02,-2.59431354e+00, 3.35170445e+00,-4.30943053e+00,
 -2.51363390e-02,-6.03888919e+00, 2.04079760e+01,-3.86457989e+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,
  2.74878462e+00,-2.19790166e+00,-3.14996440e+00, 3.72583042e+00,
  1.88249925e+02,-1.05931479e+02]

qfrc_actuator:
[ 0.00063523, 0.03547982, 0.00946427, 0.00198482,-0.00025229, 0.03479717,
  0.00855764, 0.00171998,-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,  -7.27358633,  -4.65636325,  -7.27358633,
        30.82887378, -34.66635438,  -4.65636325, -34.66635438,
        62.78779213,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0033674942623247717
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64844086e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.64844086e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02664909, -0.01469932,  0.06168481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55303494e-05,-5.19529075e-04,-1.86212989e-04,-4.53848861e-05,
 -4.75029803e-06,-4.36489445e-04,-1.22227562e-04,-8.55106727e-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,
  2.20834223e-04, 2.27476523e-04,-4.90496538e+00, 1.46379951e-04,
  3.08071600e-02, 7.18806052e-03]


--- Step 2097 ---
qpos:
[-8.25370705e-04, 8.57924758e-01,-2.44884252e-02, 7.33897893e-07,
 -2.71838412e-03, 8.54833015e-01,-2.70719362e-02, 2.98978826e-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,
  6.93962383e-03,-4.25826765e-02, 7.81650255e-02, 6.95253316e-01,
 -8.86185294e-02,-7.07910794e-01,-8.73606887e-02]

qacc:
[ 2.50691447e-02,-3.50891397e+00, 3.65384897e+00, 2.54888924e+00,
 -1.12053403e-01,-5.32522337e+00, 1.56693632e+01,-2.59865111e+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,
  2.49547904e+00,-1.99514549e+00,-3.79913014e+00, 3.53028933e+00,
  1.70437261e+02,-9.57669622e+01]

qfrc_actuator:
[ 0.0006472 , 0.03522901, 0.00941602, 0.00198795,-0.00027029, 0.03462158,
  0.00854238, 0.00168157,-0.00226855, 0.03120755, 0.00831565, 0.00149876,
  0.        ,-0.00148671, 0.        ,-0.00082752, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -7.24188026,  -4.70552305,  -7.24188026,
        33.91134667, -38.89863012,  -4.70552305, -38.89863012,
        68.50201907,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0032896229193837973
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37492488e-14, -3.37492488e-14,  1.00000000e+00,  1.13901180e-27,
        1.00000000e+00,  3.37492488e-14, -1.00000000e+00,  0.00000000e+00,
        3.37492488e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02680342, -0.01459211,  0.0616913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17378667e-06,-5.85968079e-04,-1.81578154e-04,-2.67517988e-05,
 -2.02872160e-05,-4.52413940e-04,-1.24710269e-04,-6.32495331e-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,
  1.07172345e-03,-3.91008532e-05,-4.90502307e+00, 1.45502233e-04,
  3.08112118e-02, 7.19500644e-03]


--- Step 2098 ---
qpos:
[-8.59254159e-04, 8.58089563e-01,-2.44697268e-02, 9.90841278e-06,
 -2.72359994e-03, 8.54984726e-01,-2.70713905e-02, 2.99327069e-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,
  6.98059521e-03,-4.25977381e-02, 7.81692622e-02, 6.96103332e-01,
 -8.82337593e-02,-7.07089651e-01,-8.76309367e-02]

qacc:
[ 3.24548928e-01,-1.68588288e+00,-7.34957180e+00, 3.33784939e+01,
 -1.14527230e-03, 1.41199922e+00,-1.89847075e+01, 5.52147841e+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,
  2.31696706e+00,-2.45790212e+00,-2.48464770e+00, 5.36239590e+00,
  1.64232831e+02,-1.20304342e+02]

qfrc_actuator:
[ 0.00070366, 0.03506685, 0.00941538, 0.00205763,-0.00026112, 0.03450962,
  0.00853295, 0.00178263,-0.00229879, 0.03113375, 0.00836063, 0.00150005,
  0.        ,-0.00153265, 0.        ,-0.00098205, 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: -0.0031954347912511796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73720182e-14, -1.73720182e-14,  1.00000000e+00,  3.01787015e-28,
        1.00000000e+00,  1.73720182e-14, -1.00000000e+00,  0.00000000e+00,
        1.73720182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01602649, -0.01720692,  0.06169885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.79828716e-05,-5.32606093e-04,-1.46428389e-04, 3.74750821e-05,
 -4.52199673e-07,-3.97153991e-04,-1.21669165e-04, 7.58859954e-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,
  2.39766750e-03,-8.07432904e-04,-4.90511955e+00, 9.80201781e-05,
  3.08162542e-02, 7.20430137e-03]


--- Step 2099 ---
qpos:
[-8.92356322e-04, 8.58250218e-01,-2.44509175e-02, 1.94622582e-05,
 -2.72854977e-03, 8.55133029e-01,-2.70705335e-02, 2.99687948e-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,
  7.03004433e-03,-4.26217750e-02, 7.81609088e-02, 6.97146014e-01,
 -8.76601043e-02,-7.06078010e-01,-8.80737490e-02]

qacc:
[ 4.14161616e-01,-5.00951491e+00, 8.30590602e+00, 1.12775867e+00,
  1.42399871e-01,-5.10631110e+00, 1.11449690e+01,-6.95663765e+00,
 -2.89733055e-01,-6.39840969e+00, 1.63102137e+01,-9.77725332e+00,
 -6.37748417e-01, 3.44828383e-01, 1.31370617e+01,-4.51415418e+01,
  2.11943265e+00,-2.24380350e+00,-3.14749867e+00, 4.88559879e+00,
  1.50308418e+02,-1.09994759e+02]

qfrc_actuator:
[ 0.00075072, 0.0348706 , 0.00942551, 0.00207723,-0.00023577, 0.03433034,
  0.00854515, 0.00178746,-0.00233534, 0.03098859, 0.00842497, 0.00151945,
  0.        ,-0.00150592, 0.        ,-0.00119658, 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: -0.003092057220139048
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79528215e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79528215e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01616823, -0.01708324,  0.06170702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.40638476e-05,-5.26741367e-04,-1.18058586e-04,-7.83679132e-06,
  2.50786636e-05,-4.26907339e-04,-8.34061314e-05,-1.51517874e-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,
  4.08115748e-03,-2.19552185e-03,-4.90528550e+00,-9.40552900e-06,
  3.08251219e-02, 7.21753942e-03]


--- Step 2100 ---
qpos:
[-9.24473832e-04, 8.58406854e-01,-2.44321392e-02, 2.84734239e-05,
 -2.73338178e-03, 8.55277648e-01,-2.70690494e-02, 2.99949220e-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,
  7.08850164e-03,-4.26418197e-02, 7.81753301e-02, 6.98391715e-01,
 -8.72240339e-02,-7.04860630e-01,-8.83881953e-02]

qacc:
[ 5.21286080e-01,-6.33844293e+00, 1.71862583e+01,-2.35785723e+01,
  6.41052344e-02,-8.66435107e+00, 2.80378937e+01,-4.35799481e+01,
 -1.62127947e-01, 1.30988721e+00,-1.65270930e+01, 4.86890563e+01,
 -5.76580203e-01, 6.26101928e-01, 2.24017243e+00,-8.33474203e+00,
  2.25205052e+00, 9.98041780e-01, 5.69365460e+00,-2.80181391e+00,
  1.31703335e+02, 1.11275552e+02]

qfrc_actuator:
[ 0.00080949, 0.03467333, 0.009424  , 0.00204944,-0.0002365 , 0.03412999,
  0.00856969, 0.00173559,-0.00233983, 0.03083747, 0.00839343, 0.00160254,
  0.        ,-0.00147131, 0.        ,-0.00123163, 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: -0.0030415213784442743
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56277832e-15, -3.65022266e-14,  1.00000000e+00,  1.66551568e-28,
        1.00000000e+00,  3.65022266e-14, -1.00000000e+00,  0.00000000e+00,
        4.56277832e-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([ 0.00010268, -0.04658836,  0.06171076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.33894050e-05,-5.20470179e-04,-1.26531544e-04,-5.48779293e-05,
  1.10477498e-05,-4.60530459e-04,-7.56213628e-05,-7.35812080e-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,
  6.01209161e-03,-3.93397153e-03,-4.90550283e+00,-1.58531569e-04,
  3.08351797e-02, 7.23283440e-03]


--- Step 2101 ---
qpos:
[-9.55629047e-04, 8.58560665e-01,-2.44149180e-02, 3.70279525e-05,
 -2.73833068e-03, 8.55418685e-01,-2.70676728e-02, 3.00322367e-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,
  7.15533024e-03,-4.26581683e-02, 7.82068565e-02, 6.99821442e-01,
 -8.69121277e-02,-7.03454766e-01,-8.85868123e-02]

qacc:
[ 5.08000534e-01,-3.23971472e-01,-2.33649757e+00,-9.96920173e-01,
 -6.06354868e-02,-2.12846981e+00,-4.00101592e+00, 2.61667804e+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,
  2.09282209e+00, 9.24030657e-01, 4.27627091e+00,-2.84001208e+00,
  1.20135840e+02, 1.00559397e+02]

qfrc_actuator:
[ 0.000857  , 0.03458348, 0.00936234, 0.00202949,-0.00025283, 0.03395414,
  0.0085657 , 0.00179278,-0.00230736, 0.03073691, 0.00830552, 0.00161585,
  0.        ,-0.00148564, 0.        ,-0.00110738, 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: -0.00300328002344781
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84835083e-14,  1.84835083e-14,  1.00000000e+00, -3.41640079e-28,
        1.00000000e+00, -1.84835083e-14, -1.00000000e+00,  0.00000000e+00,
        1.84835083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 8.35121408e-05, -4.65920008e-02,  6.17137774e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.13048407e-05,-4.13200336e-04,-1.88021842e-04,-4.79745925e-05,
 -1.11721925e-05,-4.55639097e-04,-1.12142738e-04, 3.31831675e-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,
  9.02068380e-03,-3.99981044e-03,-4.90552958e+00,-1.52256040e-04,
  3.08205323e-02, 7.23922970e-03]


--- Step 2102 ---
qpos:
[-9.86094104e-04, 8.58711783e-01,-2.43985431e-02, 4.55488250e-05,
 -2.74322905e-03, 8.55556138e-01,-2.70663559e-02, 3.00760363e-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,
  7.23001003e-03,-4.26710693e-02, 7.82506923e-02, 7.01419183e-01,
 -8.67132094e-02,-7.01874513e-01,-8.86798569e-02]

qacc:
[ 3.64714144e-01,-1.26305841e+00,-5.18055687e-01, 3.26861030e+00,
  2.80577112e-02,-3.23076135e+00, 1.91267703e+00, 1.20378261e+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,
  1.96279558e+00, 8.61914537e-01, 3.07734461e+00,-2.82602646e+00,
  1.10523199e+02, 9.17020960e+01]

qfrc_actuator:
[ 0.00087964, 0.0344875 , 0.00933714, 0.00203212,-0.00024282, 0.03377661,
  0.00856281, 0.00182493,-0.00228859, 0.03068488, 0.00832722, 0.00157024,
  0.        ,-0.00149378, 0.        ,-0.00089032, 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: -0.002941181615113385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88737584e-14, -1.88737584e-14,  1.00000000e+00,  3.56218756e-28,
        1.00000000e+00,  1.88737584e-14, -1.00000000e+00,  0.00000000e+00,
        1.88737584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 4.62483531e-05, -4.66010622e-02,  6.17189482e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.54745417e-05,-3.71680202e-04,-1.36707347e-04,-2.27801270e-05,
  4.67837595e-06,-4.57468680e-04,-1.10796726e-04, 9.17131256e-06,
  2.76359380e-05,-2.47392148e-04,-5.78699703e-05,-6.35608990e-05,
  3.89750025e-03,-3.56452941e-05, 5.59715067e-07, 2.20226220e-04,
  1.22945016e-02,-3.80963669e-03,-4.90560847e+00,-1.20729831e-04,
  3.08069528e-02, 7.24377487e-03]


--- Step 2103 ---
qpos:
[-1.01578240e-03, 8.58860837e-01,-2.43826838e-02, 5.32328057e-05,
 -2.74764509e-03, 8.55690594e-01,-2.70650463e-02, 3.01156013e-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,
  7.28435106e-03,-4.26749803e-02, 7.82969261e-02, 7.02570373e-01,
 -8.66957133e-02,-7.00735874e-01,-8.85887077e-02]

qacc:
[ 4.10312681e-01,-3.00785581e+00, 1.03012391e+01,-2.24446864e+01,
  2.56528262e-01,-4.80745087e+00, 1.31851370e+01,-1.83035755e+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,
 -5.08468827e+00, 2.24749096e+00, 5.99514291e-01, 1.23412105e+00,
 -3.27620281e+02, 8.93194558e+01]

qfrc_actuator:
[ 0.00092275, 0.03444209, 0.00933374, 0.00199481,-0.00019938, 0.03367053,
  0.00857835, 0.00180657,-0.00229597, 0.03068048, 0.00841367, 0.00157924,
  0.        ,-0.00149816, 0.        ,-0.00088667, 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: -0.0029836588550211443
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62794273e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.62794273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04714948, -0.05779418,  0.06171567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.37307326e-05,-2.86145688e-04,-9.91206105e-05,-5.86759084e-05,
  4.55883177e-05,-3.87716837e-04,-9.33967241e-05,-4.18299048e-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,
  1.57496974e-02,-3.42842059e-03,-4.90574052e+00,-6.92236941e-05,
  3.07940349e-02, 7.24669277e-03]


--- Step 2104 ---
qpos:
[-1.04490105e-03, 8.59008412e-01,-2.43676525e-02, 6.03493263e-05,
 -2.75154291e-03, 8.55822394e-01,-2.70629366e-02, 3.01481459e-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,
  7.32067224e-03,-4.26708412e-02, 7.83410679e-02, 7.03327811e-01,
 -8.68377697e-02,-6.99990163e-01,-8.83343851e-02]

qacc:
[ 3.00561659e-01,-8.10362530e-01, 2.44631931e+00,-9.85399787e+00,
  2.75875499e-01,-7.18461258e+00, 2.34915026e+01,-3.49757613e+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,
 -4.50496330e+00, 2.01251997e+00,-5.22989158e-01, 1.45850648e+00,
 -2.90128570e+02, 7.87489000e+01]

qfrc_actuator:
[ 0.00094227, 0.03440972, 0.0093079 , 0.00196985,-0.00017184, 0.03359039,
  0.0086404 , 0.00177648,-0.00230118, 0.03063403, 0.00843138, 0.00160264,
  0.        ,-0.00146454, 0.        ,-0.00095556, 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: -0.0030892543396409122
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57229713e-14, -5.39073302e-14,  1.00000000e+00,  8.47583405e-28,
        1.00000000e+00,  5.39073302e-14, -1.00000000e+00,  0.00000000e+00,
        1.57229713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04699221, -0.05771484,  0.06170744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40756466e-05,-2.18998458e-04,-1.00469465e-04,-4.20507670e-05,
  4.90049910e-05,-3.21269650e-04,-3.20624320e-05,-5.09663604e-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,
  8.42167272e-03,-7.59624955e-04,-4.90538138e+00,-1.60066734e-05,
  3.07829258e-02, 7.22632775e-03]


--- Step 2105 ---
qpos:
[-1.07351098e-03, 8.59153923e-01,-2.43526709e-02, 6.81624247e-05,
 -2.75500843e-03, 8.55950988e-01,-2.70595517e-02, 3.01702487e-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,
  7.34090803e-03,-4.26594413e-02, 7.83792301e-02, 7.03735012e-01,
 -8.71212010e-02,-6.99595925e-01,-8.79344714e-02]

qacc:
[ 2.69157115e-01,-1.15284451e+00,-2.78502737e+00, 1.64351239e+01,
  2.30840790e-01,-9.94043458e+00, 3.37101436e+01,-5.14755935e+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,
 -4.02134617e+00, 1.81519082e+00,-1.49493191e+00, 1.55635259e+00,
 -2.58746945e+02, 6.99501275e+01]

qfrc_actuator:
[ 0.00096529, 0.03429665, 0.00930464, 0.00200563,-0.00015407, 0.03340242,
  0.00869407, 0.00172203,-0.00226952, 0.03061582, 0.00842596, 0.00159871,
  0.        ,-0.00142611, 0.        ,-0.00081803, 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: -0.003138846947787946
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98958554e-14, -5.30556145e-14,  1.00000000e+00,  1.05558684e-27,
        1.00000000e+00,  5.30556145e-14, -1.00000000e+00,  0.00000000e+00,
        1.98958554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04692511, -0.05767783,  0.06170386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82814235e-05,-2.61675377e-04,-6.36032305e-05, 2.18428169e-05,
  4.08604627e-05,-3.79614879e-04,-1.94767419e-05,-7.05187980e-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,
  3.83374181e-03, 5.24303781e-04,-4.90512618e+00, 3.86709627e-06,
  3.07742722e-02, 7.21017790e-03]


--- Step 2106 ---
qpos:
[-1.10143386e-03, 8.59296805e-01,-2.43372824e-02, 7.63799538e-05,
 -2.75795809e-03, 8.56076819e-01,-2.70565123e-02, 3.01896337e-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,
  7.34668197e-03,-4.26414493e-02, 7.84080529e-02, 7.03827993e-01,
 -8.75308538e-02,-6.99517758e-01,-8.74037319e-02]

qacc:
[ 3.63677955e-01,-3.77614676e+00, 6.71719605e+00, 1.56078632e+00,
  2.73882927e-01,-3.24264149e+00, 7.41279385e+00,-9.53512415e+00,
  2.76915296e-01,-2.74772948e+00, 7.73046001e+00,-8.09525707e+00,
 -1.51090509e-01, 1.54929239e-01, 2.54947062e+00,-8.40260162e+00,
 -3.61546453e+00, 1.64803787e+00,-2.33483599e+00, 1.55854872e+00,
 -2.32377478e+02, 6.26016876e+01]

qfrc_actuator:
[ 0.00100799, 0.03413633, 0.00931448, 0.00202355,-0.00012453, 0.03325788,
  0.00867089, 0.00170686,-0.00223383, 0.03054356, 0.00844253, 0.00159651,
  0.        ,-0.00143851, 0.        ,-0.00086174, 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: -0.003142717730741082
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20792782e-15, -5.29902676e-14,  1.00000000e+00,  1.16998686e-28,
        1.00000000e+00,  5.29902676e-14, -1.00000000e+00,  0.00000000e+00,
        2.20792782e-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([ 0.04692933, -0.05767433,  0.06170397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.52214879e-05,-3.22384784e-04,-5.25538119e-05, 4.68303275e-06,
  4.87824817e-05,-3.66983992e-04,-1.07477661e-04,-3.36863074e-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,
  1.24953900e-03, 8.17038059e-04,-4.90496551e+00, 3.77703939e-06,
  3.07677415e-02, 7.19694421e-03]


--- Step 2107 ---
qpos:
[-1.12846490e-03, 8.59436555e-01,-2.43218582e-02, 8.48356964e-05,
 -2.76065541e-03, 8.56200017e-01,-2.70538820e-02, 3.02103439e-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,
  7.33701498e-03,-4.26279555e-02, 7.84231080e-02, 7.03605104e-01,
 -8.77972599e-02,-6.99753106e-01,-8.70464765e-02]

qacc:
[ 4.71573800e-01,-3.74676610e+00, 6.34832398e+00, 1.73562302e-02,
  1.34288180e-01,-2.06201338e+00, 1.74499845e+00, 3.13731348e+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,
 -3.86023171e+00,-1.12456877e+00,-3.44191859e+00,-1.03901038e+01,
 -2.06955575e+02,-1.38678496e+02]

qfrc_actuator:
[ 0.00106212, 0.03393131, 0.00929622, 0.00203077,-0.00012369, 0.03314023,
  0.00865597, 0.0017149 ,-0.0022493 , 0.03043961, 0.00841852, 0.00155982,
  0.        ,-0.00144563, 0.        ,-0.00094093, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.42623105, -8.62583932, -0.42623105, 74.83614567,
       -3.27114863, -8.62583932, -3.27114863,  8.79800183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031294713637854132
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86909397e-15, -1.77381879e-14,  1.00000000e+00,  1.57321656e-28,
        1.00000000e+00,  1.77381879e-14, -1.00000000e+00,  0.00000000e+00,
        8.86909397e-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([ 0.05249419, -0.03542868,  0.0617054 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.46759045e-05,-3.99432814e-04,-9.23936180e-05,-8.56535620e-06,
  2.38274982e-05,-3.49551353e-04,-1.06148321e-04,-1.22604944e-05,
  8.73930283e-06,-1.82665759e-04,-5.35315870e-05,-4.29734070e-05,
  3.99119807e-03,-8.68499769e-06,-1.75520953e-06,-8.04636492e-05,
  1.40814367e-04, 3.97256377e-04,-4.90488220e+00,-7.18569907e-06,
  3.07630521e-02, 7.18576851e-03]


--- Step 2108 ---
qpos:
[-1.15462687e-03, 8.59573348e-01,-2.43078907e-02, 9.33906127e-05,
 -2.76321845e-03, 8.56320552e-01,-2.70517696e-02, 3.02319282e-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,
  7.31332845e-03,-4.26184992e-02, 7.84219138e-02, 7.03096872e-01,
 -8.79337109e-02,-7.00271555e-01,-8.68458423e-02]

qacc:
[ 4.58483463e-01, 3.66268626e-01,-7.39486568e+00, 1.36162699e+01,
  7.17046724e-02,-1.88970078e+00, 1.26475940e+00, 3.03240668e+00,
 -1.31239891e-01, 1.49905246e+00,-4.53782082e+00,-1.15321487e+00,
 -6.64996445e-02, 7.58266491e-01,-5.77755658e+00, 1.94774054e+01,
 -3.50488355e+00,-1.00934592e+00,-4.06231042e+00,-9.28421854e+00,
 -1.86899560e+02,-1.25414849e+02]

qfrc_actuator:
[ 0.00110488, 0.03375428, 0.00920807, 0.00203158,-0.00012225, 0.03300419,
  0.00862846, 0.00171882,-0.00227751, 0.03044157, 0.00837056, 0.00153857,
  0.        ,-0.00134294, 0.        ,-0.00084506, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   1.86684799,   8.43217976,   1.86684799,
        90.57537868, -18.14094222,   8.43217976, -18.14094222,
        12.65268949,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003094826710491591
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79367559e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79367559e-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([ 0.05256152, -0.03541209,  0.06170844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.25197525e-05,-4.23248486e-04,-1.83550576e-04,-1.99133918e-05,
  1.26404923e-05,-3.56940224e-04,-1.14211018e-04,-1.51688584e-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,
  2.46955280e-04,-4.27342751e-04,-4.90494235e+00,-1.65341977e-05,
  3.07783168e-02, 7.17915496e-03]


--- Step 2109 ---
qpos:
[-1.18037918e-03, 8.59706817e-01,-2.42950186e-02, 1.02598336e-04,
 -2.76569904e-03, 8.56438345e-01,-2.70502686e-02, 3.02504954e-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,
  7.27684845e-03,-4.26126934e-02, 7.84023216e-02, 7.02328661e-01,
 -8.79514588e-02,-7.01047023e-01,-8.67874617e-02]

qacc:
[ 2.16552910e-01, 1.22435417e-02,-9.17258400e+00, 2.46662857e+01,
  4.42236711e-02,-2.53577030e+00, 5.05662099e+00,-7.28585254e+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,
 -3.19836867e+00,-9.12650989e-01,-4.59952378e+00,-8.34813819e+00,
 -1.69973154e+02,-1.14160510e+02]

qfrc_actuator:
[ 0.00110497, 0.03357736, 0.00915047, 0.00206409,-0.00012045, 0.0328582 ,
  0.00859367, 0.0017025 ,-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: -0.0030298847932773987
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16060428e-15,  1.83212086e-14,  1.00000000e+00,  1.67833342e-28,
        1.00000000e+00, -1.83212086e-14, -1.00000000e+00,  0.00000000e+00,
       -9.16060428e-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([ 0.05268166, -0.03538633,  0.06171379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88441484e-05,-4.55680292e-04,-1.69510160e-04, 7.39723836e-06,
  7.73002169e-06,-3.72747776e-04,-1.24088832e-04,-3.60504890e-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,
  1.55683839e-03,-7.37226135e-04,-4.90503414e+00, 9.41663653e-06,
  3.07884362e-02, 7.17771590e-03]


--- Step 2110 ---
qpos:
[-1.20602079e-03, 8.59836588e-01,-2.42819895e-02, 1.12080422e-04,
 -2.76811929e-03, 8.56553174e-01,-2.70486523e-02, 3.02770660e-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,
  7.22864101e-03,-4.26102117e-02, 7.83624724e-02, 7.01321539e-01,
 -8.78600166e-02,-7.02057131e-01,-8.68590868e-02]

qacc:
[ 5.97998149e-02,-4.75720348e+00, 8.71614007e+00,-1.50515352e+00,
  3.31176369e-02,-2.58810608e+00, 1.68930746e-01, 1.56744336e+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,
 -2.93186056e+00,-8.31006215e-01,-5.06425087e+00,-7.55079105e+00,
 -1.55686181e+02,-1.04612922e+02]

qfrc_actuator:
[ 0.00109733, 0.03340207, 0.00916467, 0.00207952,-0.00011842, 0.03272513,
  0.00860807, 0.0017454 ,-0.00230666, 0.03048221, 0.00831477, 0.00149519,
  0.        ,-0.00151914, 0.        ,-0.00074608, 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: -0.002940942692194623
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.88752917e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.88752917e-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([ 0.05284326, -0.03535339,  0.06172094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04174586e-05,-4.68043403e-04,-1.01690260e-04,-1.00464573e-05,
  5.63112932e-06,-3.71524084e-04,-8.00773152e-05, 2.17537670e-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,
  3.74910047e-03,-6.59613223e-04,-4.90514222e+00, 5.99453624e-05,
  3.07947708e-02, 7.18017266e-03]


--- Step 2111 ---
qpos:
[-1.23136752e-03, 8.59963215e-01,-2.42688078e-02, 1.20561164e-04,
 -2.77048861e-03, 8.56665687e-01,-2.70466718e-02, 3.03144191e-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,
  7.16964099e-03,-4.26107764e-02, 7.83007590e-02, 7.00092956e-01,
 -8.76674044e-02,-7.03282680e-01,-8.70502792e-02]

qacc:
[ 1.56634322e-01,-6.63954594e+00, 2.18733977e+01,-3.71405892e+01,
  2.80805004e-02,-1.85783196e+00,-2.36907621e+00, 2.21494346e+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,
 -2.69814325e+00,-7.61608150e-01,-5.46603547e+00,-6.86743464e+00,
 -1.43639405e+02,-9.65233421e+01]

qfrc_actuator:
[ 0.00112068, 0.03328271, 0.00918564, 0.00203157,-0.00011627, 0.03267215,
  0.00865149, 0.00180511,-0.00234962, 0.03044612, 0.00835337, 0.00146719,
  0.        ,-0.00152897, 0.        ,-0.00078572, 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: -0.002833326856278892
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95922158e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95922158e-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([ 0.05303707, -0.03531489,  0.0617295 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79504755e-05,-4.05679456e-04,-8.96980731e-05,-7.19504840e-05,
  4.76066544e-06,-2.79120954e-04,-4.33485798e-05, 4.12583230e-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,
  6.59422574e-03,-2.87751701e-04,-4.90525123e+00, 1.27400847e-04,
  3.07982375e-02, 7.18557576e-03]


--- Step 2112 ---
qpos:
[-1.25669882e-03, 8.60087270e-01,-2.42554507e-02, 1.27284007e-04,
 -2.77299803e-03, 8.56776238e-01,-2.70443405e-02, 3.03512247e-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,
  7.11442099e-03,-4.26296319e-02, 7.82570296e-02, 6.98976923e-01,
 -8.70906031e-02,-7.04394258e-01,-8.76083106e-02]

qacc:
[ 9.06819804e-03,-7.50291949e+00, 2.92451858e+01,-5.80644220e+01,
 -7.31942134e-02,-3.68102160e+00, 9.59827857e+00,-9.66932088e+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,
  9.45001406e-01,-4.57268885e+00, 4.49599064e+00, 5.46115009e+00,
  1.12273581e+02,-2.53613192e+02]

qfrc_actuator:
[ 0.00110915, 0.03319783, 0.00921061, 0.00194674,-0.00013182, 0.03259674,
  0.00867654, 0.00180328,-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: -0.002832864637976981
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95954125e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95954125e-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([ 0.00714857, -0.0229999 ,  0.06172903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39289617e-06,-3.36418546e-04,-7.34573726e-05,-1.06929812e-04,
 -1.33336634e-05,-2.41399942e-04,-3.74320685e-05,-1.46593183e-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,
  9.92940056e-03, 3.10196924e-04,-4.90534678e+00, 2.06364769e-04,
  3.07994329e-02, 7.19321343e-03]


--- Step 2113 ---
qpos:
[-1.28199197e-03, 8.60208654e-01,-2.42417343e-02, 1.34659397e-04,
 -2.77566045e-03, 8.56884690e-01,-2.70424569e-02, 3.03813207e-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,
  7.07140845e-03,-4.26430169e-02, 7.82487406e-02, 6.98102472e-01,
 -8.66743335e-02,-7.05261347e-01,-8.80166519e-02]

qacc:
[ 2.13273048e-02,-3.18856043e+00, 3.49353107e+00, 9.18583412e+00,
 -8.05269530e-02,-2.90162580e+00, 9.15492939e+00,-1.85102978e+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,
  3.05186968e+00, 1.36759578e+00, 8.86009868e+00,-3.57345356e+00,
  1.56980872e+02, 1.30082601e+02]

qfrc_actuator:
[ 0.00111236, 0.03308107, 0.00923789, 0.00198298,-0.00014006, 0.0324552 ,
  0.00863717, 0.00176524,-0.00238391, 0.03032072, 0.00844184, 0.00143394,
  0.        ,-0.00146824, 0.        ,-0.00078326, 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: -0.002903508844695264
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91186438e-14, -1.91186438e-14,  1.00000000e+00,  3.65522539e-28,
        1.00000000e+00,  1.91186438e-14, -1.00000000e+00,  0.00000000e+00,
        1.91186438e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 1.66079282e-05, -4.66214533e-02,  6.17229132e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55274654e-06,-3.27655015e-04,-5.60236704e-05, 1.69832753e-05,
 -1.45688680e-05,-2.87577767e-04,-9.52540506e-05,-5.01395275e-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,
  8.84995688e-03, 3.20015671e-03,-4.90534855e+00, 3.07165434e-04,
  3.08073680e-02, 7.18746869e-03]


--- Step 2114 ---
qpos:
[-1.30658349e-03, 8.60327039e-01,-2.42281930e-02, 1.42831798e-04,
 -2.77824782e-03, 8.56991005e-01,-2.70415695e-02, 3.04001321e-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,
  7.03934455e-03,-4.26514880e-02, 7.82684825e-02, 6.97445331e-01,
 -8.64021299e-02,-7.05910277e-01,-8.82913530e-02]

qacc:
[ 3.70773968e-01,-1.83259974e+00,-2.58079303e+00, 1.88578322e+01,
  3.97735664e-02,-2.36364851e+00, 9.09308183e+00,-2.54602666e+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,
  2.73715621e+00, 1.22849111e+00, 7.00772311e+00,-3.34397026e+00,
  1.40647065e+02, 1.16467250e+02]

qfrc_actuator:
[ 0.00117764, 0.03289306, 0.00921306, 0.00201913,-0.0001261 , 0.03232815,
  0.00857755, 0.00170611,-0.00237826, 0.03024278, 0.00847037, 0.00147075,
  0.        ,-0.00142476, 0.        ,-0.00095222, 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: -0.0029396710006745486
  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([ 3.88620740e-05, -4.66144215e-02,  6.17200561e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66516264e-05,-3.85043434e-04,-9.98817002e-05, 2.02937430e-05,
  7.04792511e-06,-3.12309080e-04,-1.33362410e-04,-7.58957537e-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,
  5.36690525e-03, 1.76778436e-03,-4.90518290e+00, 1.50074052e-04,
  3.08065720e-02, 7.19104038e-03]


--- Step 2115 ---
qpos:
[-1.33014797e-03, 8.60443228e-01,-2.42158508e-02, 1.49956972e-04,
 -2.78070089e-03, 8.57094987e-01,-2.70408657e-02, 3.04148221e-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,
  7.01719371e-03,-4.26555008e-02, 7.83100001e-02, 6.96985284e-01,
 -8.62603677e-02,-7.06362545e-01,-8.84455611e-02]

qacc:
[ 5.41177781e-01,-1.70653414e+00, 6.29515963e+00,-2.08866688e+01,
  7.17319023e-02,-3.41431222e+00, 9.44357902e+00,-1.45710553e+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,
  2.47826784e+00, 1.11459522e+00, 5.44392664e+00,-3.12637051e+00,
  1.27182249e+02, 1.05255540e+02]

qfrc_actuator:
[ 0.00124397, 0.0328057 , 0.00915734, 0.00196606,-0.00011673, 0.03222843,
  0.00857753, 0.00168831,-0.00241048, 0.03017353, 0.00838218, 0.00152902,
  0.        ,-0.00143377, 0.        ,-0.00096237, 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: -0.0029401643336595673
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.77605773e-14, -1.88802886e-14,  1.00000000e+00,  7.12930597e-28,
        1.00000000e+00,  1.88802886e-14, -1.00000000e+00,  0.00000000e+00,
        3.77605773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 3.56511980e-05, -4.66148187e-02,  6.17204432e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.76338360e-05,-3.25309851e-04,-1.47883365e-04,-7.28339853e-05,
  1.26625354e-05,-3.07719059e-04,-8.44367991e-05,-3.74401638e-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,
  2.98245911e-03, 8.34283921e-04,-4.90508602e+00, 4.60545982e-05,
  3.08066848e-02, 7.19310792e-03]


--- Step 2116 ---
qpos:
[-1.35309042e-03, 8.60557499e-01,-2.42045443e-02, 1.56684752e-04,
 -2.78302179e-03, 8.57196714e-01,-2.70397301e-02, 3.04301451e-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,
  7.00410686e-03,-4.26554272e-02, 7.83680211e-02, 6.96705459e-01,
 -8.62377477e-02,-7.06635735e-01,-8.84900701e-02]

qacc:
[ 3.27755632e-01,-4.59559111e-01,-3.62983316e-01,-3.44680546e+00,
  7.10001837e-02,-4.05266457e+00, 9.86109862e+00,-7.80245557e+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,
  2.26599602e+00, 1.02156389e+00, 4.12586114e+00,-2.92283413e+00,
  1.16058292e+02, 9.60017019e+01]

qfrc_actuator:
[ 0.00125707, 0.03274364, 0.00911969, 0.00194975,-0.00011021, 0.03214616,
  0.00861285, 0.00169505,-0.00244734, 0.03009181, 0.0083501 , 0.00156387,
  0.        ,-0.00143879, 0.        ,-0.00089657, 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: -0.0029120450764057865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42969502e-14, -1.90626003e-14,  1.00000000e+00,  2.72537047e-28,
        1.00000000e+00,  1.90626003e-14, -1.00000000e+00,  0.00000000e+00,
        1.42969502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 1.23527342e-05, -4.66210785e-02,  6.17234055e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91192881e-05,-2.80458122e-04,-1.26586611e-04,-3.69856587e-05,
  1.24684600e-05,-2.75894725e-04,-4.07667758e-05,-1.02646021e-05,
 -5.33885906e-05,-1.85570230e-04,-7.47515475e-05, 2.56249272e-05,
  3.94587866e-03, 1.84438402e-05,-1.23670301e-05, 6.18017114e-05,
  1.42544600e-03, 2.74513149e-04,-4.90503401e+00,-1.65537440e-05,
  3.08075455e-02, 7.19394205e-03]


--- Step 2117 ---
qpos:
[-1.37593813e-03, 8.60668550e-01,-2.41929767e-02, 1.62547451e-04,
 -2.78522998e-03, 8.57296056e-01,-2.70381516e-02, 3.04497274e-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,
  6.99939078e-03,-4.26515703e-02, 7.84381099e-02, 6.96591755e-01,
 -8.63248885e-02,-7.06744234e-01,-8.84337478e-02]

qacc:
[ 5.11798706e-02,-6.76176399e+00, 2.15896798e+01,-3.46171894e+01,
  6.07773049e-02,-3.50940221e+00, 6.14403206e+00, 2.26868702e+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,
  2.09269231e+00, 9.45855141e-01, 3.01693500e+00,-2.73372783e+00,
  1.06859949e+02, 8.83566548e+01]

qfrc_actuator:
[ 0.00123824, 0.03251982, 0.00911095, 0.00190201,-0.00010544, 0.03202195,
  0.00863333, 0.00171619,-0.00245114, 0.0299857 , 0.00836912, 0.00154921,
  0.        ,-0.00140592, 0.        ,-0.00089313, 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: -0.0028612276961295785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91017478e-14,  3.88023304e-14,  1.00000000e+00, -1.12921563e-27,
        1.00000000e+00, -3.88023304e-14, -1.00000000e+00,  0.00000000e+00,
        2.91017478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-2.66737770e-05, -4.66319409e-02,  6.17283908e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.92157404e-06,-4.11146747e-04,-8.45235461e-05,-6.50580527e-05,
  1.06206455e-05,-2.89799083e-04,-4.27004681e-05, 7.55084553e-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,
  5.01204561e-04,-8.93354217e-07,-4.90501213e+00,-4.61993478e-05,
  3.08090069e-02, 7.19375182e-03]


--- Step 2118 ---
qpos:
[-1.39839371e-03, 8.60776521e-01,-2.41818989e-02, 1.68169659e-04,
 -2.78753333e-03, 8.57392991e-01,-2.70366052e-02, 3.04789288e-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,
  7.00248259e-03,-4.26441751e-02, 7.85165422e-02, 6.96632386e-01,
 -8.65140022e-02,-7.06699798e-01,-8.82838716e-02]

qacc:
[ 2.07342868e-01,-3.19492252e+00, 6.50227770e+00,-7.61891591e+00,
 -4.94279382e-02,-1.10942662e+00,-4.71952205e+00, 2.31875675e+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,
  1.95197229e+00, 8.84560019e-01, 2.08588496e+00,-2.55829255e+00,
  9.92571159e+01, 8.20440135e+01]

qfrc_actuator:
[ 0.00127152, 0.03236079, 0.00908317, 0.00188929,-0.00011952, 0.03189137,
  0.00862697, 0.00176334,-0.00241738, 0.029937  , 0.00838251, 0.00148777,
  0.        ,-0.00142154, 0.        ,-0.00094422, 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: -0.002792661988243808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96937612e-15, -5.96325135e-14,  1.00000000e+00,  2.96336389e-28,
        1.00000000e+00,  5.96325135e-14, -1.00000000e+00,  0.00000000e+00,
        4.96937612e-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([-7.78806235e-05, -4.66463861e-02,  6.17349423e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72219005e-05,-4.11878354e-04,-1.26319737e-04,-3.47163209e-05,
 -9.09598542e-06,-3.03532670e-04,-7.20205067e-05, 3.32474903e-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,
  6.92373685e-05,-5.60654829e-05,-4.90501148e+00,-4.90429919e-05,
  3.08109343e-02, 7.19269694e-03]


--- Step 2119 ---
qpos:
[-1.42055085e-03, 8.60882320e-01,-2.41711418e-02, 1.73462326e-04,
 -2.78977335e-03, 8.57487901e-01,-2.70352830e-02, 3.05097121e-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,
  7.01292835e-03,-4.26334388e-02, 7.86001984e-02, 6.96817500e-01,
 -8.67986325e-02,-7.06511996e-01,-8.80463956e-02]

qacc:
[ 1.57756571e-01,-2.65104024e+00, 6.67992443e+00,-1.02753476e+01,
  3.40823190e-02,-1.72243814e+00, 1.59179020e+00, 2.99185274e+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,
  1.83848734e+00, 8.35276073e-01, 1.30598733e+00,-2.39509455e+00,
  9.29845998e+01, 7.68426170e+01]

qfrc_actuator:
[ 0.00128249, 0.03233055, 0.00909788, 0.00187955,-0.00010924, 0.0318112 ,
  0.00862255, 0.00177213,-0.00243249, 0.02992304, 0.00842815, 0.00147037,
  0.        ,-0.00144832, 0.        ,-0.00083173, 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: -0.0027104817658576974
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56002235e-14, -6.14405364e-14,  1.00000000e+00,  1.57289147e-27,
        1.00000000e+00,  6.14405364e-14, -1.00000000e+00,  0.00000000e+00,
        2.56002235e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00013837, -0.04666359,  0.06174268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83374651e-05,-2.90753822e-04,-8.80627363e-05,-3.26151319e-05,
  5.94612516e-06,-2.65703631e-04,-7.56160484e-05,-6.21109564e-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,
  2.78491409e-05, 6.28820697e-05,-4.90502693e+00,-2.95947265e-05,
  3.08132031e-02, 7.19089808e-03]


--- Step 2120 ---
qpos:
[-1.44240857e-03, 8.60986198e-01,-2.41602457e-02, 1.78526635e-04,
 -2.79190924e-03, 8.57580340e-01,-2.70335795e-02, 3.05414323e-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,
  7.03036508e-03,-4.26195185e-02, 7.86864722e-02, 6.97138878e-01,
 -8.71734418e-02,-7.06188569e-01,-8.77261644e-02]

qacc:
[ 1.58462021e-01,-3.39521337e+00, 9.38725338e+00,-1.21519037e+01,
  5.61956884e-02,-4.13367412e+00, 9.60885119e+00,-6.78540308e+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,
  1.74774455e+00, 7.96010365e-01, 6.54388777e-01,-2.24232174e+00,
  8.78272497e+01, 7.25737128e+01]

qfrc_actuator:
[ 0.00129775, 0.03227139, 0.00912034, 0.00187179,-0.00010221, 0.03167308,
  0.00863726, 0.00177608,-0.00244123, 0.02989469, 0.00845717, 0.00155009,
  0.        ,-0.00144615, 0.        ,-0.00058825, 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: -0.0026181301264609352
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06012972e-14, -2.12025944e-14,  1.00000000e+00,  2.24775005e-28,
        1.00000000e+00,  2.12025944e-14, -1.00000000e+00,  0.00000000e+00,
        1.06012972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00020579, -0.04668286,  0.0617513 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84423121e-05,-2.43898950e-04,-5.04784713e-05,-2.40819616e-05,
  9.80648987e-06,-3.04868381e-04,-5.04696708e-05,-1.03234372e-05,
 -1.12913542e-05,-1.02432513e-04, 1.22356822e-06, 7.36234350e-05,
  3.88498618e-03,-2.20988346e-06, 8.29358601e-06, 2.48523237e-04,
  3.03445092e-04, 3.22837507e-04,-4.90505579e+00, 8.84129781e-06,
  3.08156962e-02, 7.18844528e-03]


--- Step 2121 ---
qpos:
[-1.46394051e-03, 8.61088574e-01,-2.41499865e-02, 1.84144331e-04,
 -2.79394323e-03, 8.57670842e-01,-2.70319451e-02, 3.05764288e-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,
  7.05450567e-03,-4.26025377e-02, 7.87731922e-02, 6.97589671e-01,
 -8.76340365e-02,-7.05735720e-01,-8.73270866e-02]

qacc:
[ 1.71725388e-01, 9.33248864e-01,-8.54388101e+00, 2.02447871e+01,
  5.45358571e-02,-1.69174218e+00, 9.33819592e-01, 6.27050282e+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,
  1.67596182e+00, 7.65103725e-01, 1.11538934e-01,-2.09797749e+00,
  8.36089353e+01, 6.90914782e+01]

qfrc_actuator:
[ 1.31546882e-03, 3.22132503e-02, 9.09386877e-03, 1.90075287e-03,
 -9.72026099e-05, 3.16079823e-02, 8.64517800e-03, 1.79487662e-03,
 -2.41056023e-03, 2.98402568e-02, 8.44065311e-03, 1.56202116e-03,
  0.00000000e+00,-1.49773959e-03, 0.00000000e+00,-5.89145108e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025184652827338616
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75520729e-14,  2.20416583e-14,  1.00000000e+00, -6.07293376e-28,
        1.00000000e+00, -2.20416583e-14, -1.00000000e+00,  0.00000000e+00,
        2.75520729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00027818, -0.04670367,  0.06176054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09617438e-05,-2.08507517e-04,-8.47934497e-05, 1.61161041e-05,
  9.60729531e-06,-2.48685256e-04,-6.23793563e-05, 3.64000686e-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,
  8.42982132e-04, 7.00168563e-04,-4.90509710e+00, 6.38519620e-05,
  3.08182999e-02, 7.18540460e-03]


--- Step 2122 ---
qpos:
[-1.48530652e-03, 8.61189251e-01,-2.41400607e-02, 1.89720694e-04,
 -2.79570259e-03, 8.57760362e-01,-2.70306944e-02, 3.06088931e-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,
  7.08512605e-03,-4.25825923e-02, 7.88585550e-02, 6.98164189e-01,
 -8.81768218e-02,-7.05158348e-01,-8.68522766e-02]

qacc:
[  0.08776285, -1.39848627,  1.90267856, -0.83625044,  0.14527683,
  -0.74547646,  1.84574843, -4.89342252,  0.36241919, -5.14193664,
  19.8309771 ,-35.42241463,  0.39434407, -0.65059141,  9.8656637 ,
 -33.53772482,  1.61994983,  0.74117066, -0.33929128, -1.96000636,
  80.18429749, 66.27594896]

qfrc_actuator:
[ 1.31676613e-03, 3.21205628e-02, 9.07426548e-03, 1.89779707e-03,
 -7.56923104e-05, 3.16226464e-02, 8.64931464e-03, 1.78680590e-03,
 -2.35658063e-03, 2.97704170e-02, 8.46823079e-03, 1.51615036e-03,
  0.00000000e+00,-1.50990902e-03, 0.00000000e+00,-7.51802895e-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,  4.11826186, -7.59122494,  4.11826186, 46.7973279 ,
       20.70243536, -7.59122494, 20.70243536, 19.86749571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002413850177776705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29969332e-14, -4.59938663e-14,  1.00000000e+00,  1.05771787e-27,
        1.00000000e+00,  4.59938663e-14, -1.00000000e+00,  0.00000000e+00,
        2.29969332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00035399, -0.04672554,  0.0617702 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57432199e-05,-2.28587461e-04,-7.34383825e-05,-1.46863675e-05,
  2.60221755e-05,-1.39317223e-04,-5.55227290e-05,-2.09590031e-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,
  1.60858200e-03, 1.17821690e-03,-4.90515105e+00, 1.33689513e-04,
  3.08209017e-02, 7.18182343e-03]


--- Step 2123 ---
qpos:
[-1.50631267e-03, 8.61287994e-01,-2.41303132e-02, 1.94544115e-04,
 -2.79737743e-03, 8.57848567e-01,-2.70292971e-02, 3.06297989e-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,
  7.11778142e-03,-4.25740777e-02, 7.89398784e-02, 6.98811194e-01,
 -8.84778211e-02,-7.04509762e-01,-8.66059166e-02]

qacc:
[ 1.90022722e-01,-3.60545351e+00, 1.23268919e+01,-2.36532117e+01,
  4.51762742e-02,-4.52354712e+00, 1.84884863e+01,-3.77647183e+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,
  5.08746782e-01,-2.85770440e+00,-1.00985300e+00, 3.95974106e+00,
  7.09889419e+01,-1.58708998e+02]

qfrc_actuator:
[ 1.34374400e-03, 3.20079467e-02, 9.05873325e-03, 1.85831258e-03,
 -7.99998057e-05, 3.15429674e-02, 8.65152655e-03, 1.72755893e-03,
 -2.32465273e-03, 2.97097754e-02, 8.50378937e-03, 1.54318536e-03,
  0.00000000e+00,-1.51597802e-03, 0.00000000e+00,-9.19616298e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023177608396405536
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.79006723e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.79006723e-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([ 0.0069747 , -0.02242845,  0.06177911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42029810e-05,-2.58677221e-04,-7.31651831e-05,-5.22783970e-05,
  7.98046175e-06,-1.72112587e-04,-3.48555767e-05,-6.76893941e-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,
  2.57364575e-03, 1.74549720e-03,-4.90521869e+00, 2.17107954e-04,
  3.08233865e-02, 7.17773467e-03]


--- Step 2124 ---
qpos:
[-1.52670790e-03, 8.61384903e-01,-2.41197555e-02, 1.98426512e-04,
 -2.79921994e-03, 8.57934892e-01,-2.70279242e-02, 3.06477244e-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,
  7.15244367e-03,-4.25764337e-02, 7.90151735e-02, 6.99526682e-01,
 -8.85508693e-02,-7.03793918e-01,-8.65753228e-02]

qacc:
[ 3.22761725e-01,-6.62165457e+00, 2.40671438e+01,-4.03055924e+01,
 -8.79864658e-02,-3.02705078e+00, 8.44871297e+00,-1.21891166e+01,
  2.67974855e-01, 2.08423981e+00,-1.75812006e+01, 4.95040876e+01,
  3.92169698e-01,-3.67592819e-01, 8.11594177e+00,-2.84781696e+01,
  5.01720258e-01,-2.71764721e+00,-1.50707963e+00, 3.75981807e+00,
  6.70399188e+01,-1.49745901e+02]

qfrc_actuator:
[ 1.38586989e-03, 3.19552979e-02, 9.11663244e-03, 1.81539165e-03,
 -9.97177120e-05, 3.14074095e-02, 8.63445423e-03, 1.70962066e-03,
 -2.30620582e-03, 2.96197221e-02, 8.49059612e-03, 1.63066896e-03,
  0.00000000e+00,-1.51835888e-03, 0.00000000e+00,-1.05354929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002246896342483151
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47057019e-14, -2.47057019e-14,  1.00000000e+00,  6.10371706e-28,
        1.00000000e+00,  2.47057019e-14, -1.00000000e+00,  0.00000000e+00,
        2.47057019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00695138, -0.02235244,  0.06178585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.81155853e-05,-2.17039207e-04,-7.19835802e-06,-5.77220545e-05,
 -1.59641873e-05,-2.44033236e-04,-5.99725245e-05,-2.79760314e-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,
  2.94281868e-03, 8.25846868e-04,-4.90513871e+00, 1.99298685e-04,
  3.08128009e-02, 7.17786773e-03]


--- Step 2125 ---
qpos:
[-1.54665460e-03, 8.61480340e-01,-2.41087564e-02, 2.01738303e-04,
 -2.80125764e-03, 8.58019582e-01,-2.70276463e-02, 3.06568691e-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,
  7.18908522e-03,-4.25892028e-02, 7.90827610e-02, 7.00307178e-01,
 -8.84074170e-02,-7.03013818e-01,-8.67499626e-02]

qacc:
[ 2.36899842e-01,-4.34948845e+00, 1.50978437e+01,-2.46008886e+01,
 -1.03316235e-01,-9.08421980e-01, 3.81072377e+00,-1.60542158e+01,
  2.81732881e-01,-2.21933989e+00, 5.64911202e+00,-5.52636088e+00,
  3.73849078e-01, 2.17137974e-01,-1.81592666e+00, 5.41477943e+00,
  4.94825021e-01,-2.60328816e+00,-1.92690122e+00, 3.59967871e+00,
  6.38094255e+01,-1.42310013e+02]

qfrc_actuator:
[ 0.00140118, 0.0319038 , 0.00914666, 0.00178865,-0.00011071, 0.03131043,
  0.00857042, 0.00166281,-0.00227821, 0.02956589, 0.00850189, 0.00162868,
  0.        ,-0.00144754, 0.        ,-0.00102441, 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: -0.002167229933700207
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56138725e-14, -2.56138725e-14,  1.00000000e+00,  6.56070465e-28,
        1.00000000e+00,  2.56138725e-14, -1.00000000e+00,  0.00000000e+00,
        2.56138725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00692492, -0.02226842,  0.06179327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.26669706e-05,-1.79175413e-04,-1.85201325e-05,-3.75786621e-05,
 -1.85723336e-05,-2.49118826e-04,-1.23493678e-04,-6.00176793e-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,
  3.31658526e-03,-1.75831215e-04,-4.90510780e+00, 1.46113612e-04,
  3.08052884e-02, 7.17956374e-03]


--- Step 2126 ---
qpos:
[-1.56621288e-03, 8.61573654e-01,-2.40974484e-02, 2.04794192e-04,
 -2.80326020e-03, 8.58102530e-01,-2.70284546e-02, 3.06604496e-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,
  7.22767896e-03,-4.26120117e-02, 7.91412228e-02, 7.01149660e-01,
 -8.80569047e-02,-7.02171664e-01,-8.71211247e-02]

qacc:
[ 2.05397687e-01,-4.19411585e+00, 1.19639485e+01,-1.53289431e+01,
  1.84602941e-02,-4.13483936e-01, 4.81459393e-01,-7.09242480e+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,
  4.88048824e-01,-2.50995056e+00,-2.28139577e+00, 3.47220182e+00,
  6.11850041e+01,-1.36164436e+02]

qfrc_actuator:
[ 1.41808256e-03, 3.17468433e-02, 9.14226380e-03, 1.77162385e-03,
 -9.86219036e-05, 3.12193395e-02, 8.51479006e-03, 1.63489144e-03,
 -2.29796664e-03, 2.95342105e-02, 8.47438277e-03, 1.55635217e-03,
  0.00000000e+00,-1.42233631e-03, 0.00000000e+00,-8.81685538e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002081153410851827
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66732625e-14, -2.66732625e-14,  1.00000000e+00,  7.11462932e-28,
        1.00000000e+00,  2.66732625e-14, -1.00000000e+00,  0.00000000e+00,
        2.66732625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00689617, -0.02217868,  0.06180117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69261371e-05,-2.64903673e-04,-4.58178779e-05,-2.62397882e-05,
  3.27618532e-06,-2.60506037e-04,-1.25048698e-04,-4.41686190e-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,
  3.69520807e-03,-1.24885791e-03,-4.90512088e+00, 6.07429578e-05,
  3.08003284e-02, 7.18266509e-03]


--- Step 2127 ---
qpos:
[-1.58484331e-03, 8.61664239e-01,-2.40859177e-02, 2.07705157e-04,
 -2.80497426e-03, 8.58183050e-01,-2.70294706e-02, 3.06678121e-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,
  7.25086466e-03,-4.26387426e-02, 7.91832479e-02, 7.01694869e-01,
 -8.75645863e-02,-7.01622081e-01,-8.76539171e-02]

qacc:
[ 4.89485954e-01,-4.52434671e+00, 1.15122384e+01,-1.23735597e+01,
  1.53211294e-01,-1.84779514e+00, 3.37688977e-01, 8.32360564e+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,
 -3.85201132e+00,-9.80479388e-01,-4.10920917e+00,-7.37635752e+00,
 -1.93643173e+02,-1.32280510e+02]

qfrc_actuator:
[ 1.48906966e-03, 3.15633611e-02, 9.13491589e-03, 1.76033890e-03,
 -7.28359618e-05, 3.10792964e-02, 8.50014078e-03, 1.65383366e-03,
 -2.31060426e-03, 2.94270772e-02, 8.42424144e-03, 1.53198583e-03,
  0.00000000e+00,-1.38927398e-03, 0.00000000e+00,-7.79752154e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020327174773408715
  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([ 0.05478381, -0.03502012,  0.06180576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.82837797e-05,-3.44472896e-04,-6.94285157e-05,-2.48910288e-05,
  2.73051591e-05,-3.15418721e-04,-8.60413291e-05, 2.46814801e-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,
  4.07941016e-03,-2.38668661e-03,-4.90517488e+00,-5.44531666e-05,
  3.07974972e-02, 7.18704712e-03]


--- Step 2128 ---
qpos:
[-1.60288855e-03, 8.61752633e-01,-2.40750218e-02, 2.10446495e-04,
 -2.80657056e-03, 8.58261298e-01,-2.70304192e-02, 3.06700625e-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,
  7.26004840e-03,-4.26585696e-02, 7.92131276e-02, 7.01937921e-01,
 -8.71831841e-02,-7.01375336e-01,-8.80618276e-02]

qacc:
[ 3.08351517e-01,-1.47010224e+00, 1.75742520e+00,-2.06789864e+00,
  6.30512704e-02,-4.23935132e+00, 1.29198193e+01,-2.02091886e+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,
 -3.50049164e+00, 1.72596895e+00,-3.03633129e+00, 4.93866650e+00,
 -2.22578484e+02, 5.62236712e+01]

qfrc_actuator:
[ 1.50305211e-03, 3.14719333e-02, 9.10800867e-03, 1.75249050e-03,
 -7.46045056e-05, 3.09822717e-02, 8.50963484e-03, 1.62917229e-03,
 -2.30107913e-03, 2.93287956e-02, 8.41415103e-03, 1.53597551e-03,
  0.00000000e+00,-1.35173576e-03, 0.00000000e+00,-8.26980180e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00205493808831176
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03902319e-14, -5.40270790e-14,  1.00000000e+00,  1.64189546e-27,
        1.00000000e+00,  5.40270790e-14, -1.00000000e+00,  0.00000000e+00,
        3.03902319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0488819 , -0.05856911,  0.06180415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.56651347e-05,-3.01663189e-04,-1.08265129e-04,-2.56507994e-05,
  1.11093300e-05,-2.92989872e-04,-6.67984832e-05,-4.12267560e-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,
  1.51702048e-03,-1.82589580e-03,-4.90506808e+00,-1.19725630e-04,
  3.07904572e-02, 7.18439058e-03]


--- Step 2129 ---
qpos:
[-1.62105710e-03, 8.61839364e-01,-2.40645450e-02, 2.12640276e-04,
 -2.80849068e-03, 8.58337929e-01,-2.70310524e-02, 3.06717418e-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,
  7.25635015e-03,-4.26720671e-02, 7.92286366e-02, 7.01904778e-01,
 -8.69034187e-02,-7.01406294e-01,-8.83554687e-02]

qacc:
[-6.45971148e-02,-2.15303298e+00, 6.79956574e+00,-1.43841445e+01,
 -1.70310508e-01,-3.13353165e+00, 8.31453220e+00,-8.62190968e+00,
 -3.47986554e-01, 9.77382495e-02,-6.55475628e-01,-3.55990479e+00,
  2.66705052e-01, 7.61737980e-01, 9.27934218e+00,-3.17254843e+01,
 -3.22049411e+00, 1.58236168e+00,-3.59268072e+00, 4.58923404e+00,
 -2.03779489e+02, 5.14811447e+01]

qfrc_actuator:
[ 0.00146505, 0.03143629, 0.00910564, 0.00172903,-0.0001106 , 0.03096513,
  0.00855118, 0.00163234,-0.00236713, 0.02932553, 0.00839232, 0.00152114,
  0.        ,-0.00125846, 0.        ,-0.00097945, 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: -0.0020710572164482147
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67520575e-14, -8.04098759e-14,  1.00000000e+00,  1.34703086e-27,
        1.00000000e+00,  8.04098759e-14, -1.00000000e+00,  0.00000000e+00,
        1.67520575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04885872, -0.05855978,  0.06180301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17953261e-05,-2.29939510e-04,-7.96738209e-05,-4.07789156e-05,
 -3.07782025e-05,-1.98408513e-04,-2.92425000e-05,-1.26121368e-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,
  2.52707346e-04,-5.50656599e-04,-4.90501936e+00,-8.63251870e-05,
  3.07918911e-02, 7.18714553e-03]


--- Step 2130 ---
qpos:
[-1.63982118e-03, 8.61924177e-01,-2.40544467e-02, 2.14907243e-04,
 -2.81096847e-03, 8.58413081e-01,-2.70318597e-02, 3.06739094e-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,
  7.24072164e-03,-4.26797193e-02, 7.92278585e-02, 7.01616915e-01,
 -8.67174252e-02,-7.01693522e-01,-8.85437376e-02]

qacc:
[  -0.31293975,  -1.3249227 ,   0.73899987,   2.5413946 ,  -0.29420786,
   -1.36603305,   1.82978457,   0.37963219,  -0.47968119,   0.40573909,
   -1.37655109,  -1.4903926 ,   0.19674732,   0.95492764,  -4.20693802,
   13.93667902,  -2.9825666 ,   1.46132992,  -4.07179094,   4.29826019,
 -187.99147564,  47.47833734]

qfrc_actuator:
[ 0.00141409, 0.03132795, 0.00908253, 0.00173216,-0.00014899, 0.03088966,
  0.00854066, 0.00163422,-0.00242458, 0.02934366, 0.00838184, 0.00151315,
  0.        ,-0.00118576, 0.        ,-0.0009086 , 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: -0.0020608735722706523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01009019e-14, -5.38714766e-14,  1.00000000e+00,  5.44150499e-28,
        1.00000000e+00,  5.38714766e-14, -1.00000000e+00,  0.00000000e+00,
        1.01009019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04887807, -0.0585693 ,  0.06180404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.67847670e-05,-2.57234644e-04,-8.25871804e-05,-1.04200669e-05,
 -5.29750723e-05,-1.94838127e-04,-5.61377613e-05,-8.00276083e-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,
  2.67022551e-05, 1.12139814e-04,-4.90500830e+00,-6.67123030e-05,
  3.07935593e-02, 7.18895777e-03]


--- Step 2131 ---
qpos:
[-1.65873572e-03, 8.62006694e-01,-2.40445776e-02, 2.17920723e-04,
 -2.81375161e-03, 8.58486188e-01,-2.70327970e-02, 3.06735158e-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,
  7.21397897e-03,-4.26819376e-02, 7.92091410e-02, 7.01092085e-01,
 -8.66185298e-02,-7.02218708e-01,-8.86341016e-02]

qacc:
[-7.84633489e-02,-8.55600228e-01,-4.50148312e+00, 1.94739976e+01,
 -1.60672815e-01,-2.86343919e+00, 7.37197284e+00,-1.00963234e+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,
 -2.77854037e+00, 1.35847579e+00,-4.48482541e+00, 4.05520489e+00,
 -1.74717507e+02, 4.40954766e+01]

qfrc_actuator:
[ 0.00142688, 0.03119467, 0.00906485, 0.0017686 ,-0.00015295, 0.03074419,
  0.00851702, 0.00161747,-0.00242309, 0.02928579, 0.00843153, 0.00152705,
  0.        ,-0.00125045, 0.        ,-0.00072447, 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: -0.0020294627340950097
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39335547e-14, -5.47052679e-14,  1.00000000e+00,  1.30929152e-27,
        1.00000000e+00,  5.47052679e-14, -1.00000000e+00,  0.00000000e+00,
        2.39335547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04893106, -0.05859371,  0.06180678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44014850e-05,-2.96698541e-04,-8.20802034e-05, 2.22076711e-05,
 -2.90435728e-05,-2.68159770e-04,-7.16596891e-05,-2.73050622e-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,
  6.07811487e-04, 2.95759182e-04,-4.90502793e+00,-5.62788276e-05,
  3.07955458e-02, 7.18996285e-03]


--- Step 2132 ---
qpos:
[-1.67681751e-03, 8.62087572e-01,-2.40358376e-02, 2.21322706e-04,
 -2.81669053e-03, 8.58557018e-01,-2.70333071e-02, 3.06675670e-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,
  7.17682919e-03,-4.26790749e-02, 7.91710578e-02, 7.00344937e-01,
 -8.66010662e-02,-7.02966177e-01,-8.86328281e-02]

qacc:
[ 4.38031156e-01, 1.78689078e+00,-1.11563133e+01, 2.08938054e+01,
 -8.12330531e-02,-5.34153019e+00, 1.70280533e+01,-2.56574565e+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,
 -2.60177881e+00, 1.27024112e+00,-4.84143787e+00, 3.85157019e+00,
 -1.63555770e+02, 4.12352698e+01]

qfrc_actuator:
[ 0.00151322, 0.03113633, 0.00901492, 0.0017888 ,-0.00015402, 0.0306289 ,
  0.0085388 , 0.00158984,-0.00240412, 0.02920091, 0.00848058, 0.00158921,
  0.        ,-0.00120174, 0.        ,-0.00072367, 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: -0.0019811009493261728
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.2030532e-14,  2.1015266e-14,  1.0000000e+00, -8.8328281e-28,
        1.0000000e+00, -2.1015266e-14, -1.0000000e+00,  0.0000000e+00,
        4.2030532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04901048, -0.05862981,  0.06181087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.92804824e-05,-2.42261790e-04,-1.21264181e-04, 4.94561149e-06,
 -1.48517663e-05,-2.82967640e-04,-4.39532609e-05,-4.22403199e-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,
  1.82748527e-03, 9.84607808e-05,-4.90506938e+00,-5.16938453e-05,
  3.07978550e-02, 7.19025225e-03]


--- Step 2133 ---
qpos:
[-1.69426385e-03, 8.62166844e-01,-2.40278739e-02, 2.24908421e-04,
 -2.81969676e-03, 8.58626120e-01,-2.70335412e-02, 3.06611769e-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,
  7.15074423e-03,-4.26710997e-02, 7.91557827e-02, 6.99805152e-01,
 -8.67179735e-02,-7.03504612e-01,-8.85099033e-02]

qacc:
[ 3.34399369e-01, 4.23436417e-01,-5.36633734e+00, 1.09695556e+01,
 -3.47639157e-02,-3.14237749e+00, 8.07933944e+00,-8.01763428e+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,
  2.76620586e+00, 1.27814191e+00, 5.70203524e+00,-4.57921843e+00,
  1.34860000e+02, 1.08068884e+02]

qfrc_actuator:
[ 0.00153625, 0.03106996, 0.00898215, 0.00179933,-0.0001534 , 0.03058601,
  0.00856957, 0.00159158,-0.0023749 , 0.0291716 , 0.00851098, 0.00160821,
  0.        ,-0.00120956, 0.        ,-0.00081318, 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: -0.001967398512964083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82155094e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.82155094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00068678, -0.04681946,  0.06181183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04910990e-05,-2.28629013e-04,-9.82763697e-05,-4.08904209e-06,
 -6.43934947e-06,-2.13701056e-04,-3.51097921e-05,-1.28266549e-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,
  3.56289391e-03,-4.07207510e-04,-4.90512307e+00,-5.05531790e-05,
  3.08004321e-02, 7.18988441e-03]


--- Step 2134 ---
qpos:
[-1.71100933e-03, 8.62243729e-01,-2.40195357e-02, 2.28955453e-04,
 -2.82253091e-03, 8.58693760e-01,-2.70335648e-02, 3.06547127e-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,
  7.13478884e-03,-4.26584549e-02, 7.91582698e-02, 6.99455595e-01,
 -8.69585229e-02,-7.03851978e-01,-8.82750235e-02]

qacc:
[ 3.69798985e-01,-3.24772580e+00, 5.05844981e+00, 4.07799148e+00,
  9.15520008e-02,-2.53343024e+00, 6.26252736e+00,-5.65522607e+00,
  7.38313435e-02,-6.29583194e-01, 3.37007512e+00,-1.06177545e+01,
  1.47317143e-01,-7.80725661e-01, 5.42345598e+00,-1.87417599e+01,
  2.53239435e+00, 1.16739433e+00, 4.44055242e+00,-4.09000508e+00,
  1.23442568e+02, 9.93678228e+01]

qfrc_actuator:
[ 0.00157442, 0.03092838, 0.00899527, 0.00182186,-0.00013403, 0.03053368,
  0.00858795, 0.00159291,-0.00237536, 0.02915795, 0.0084948 , 0.00158394,
  0.        ,-0.00132215, 0.        ,-0.00090187, 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: -0.0019940093395188208
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78389625e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.78389625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00066873, -0.04681542,  0.06180948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67095368e-05,-2.91810659e-04,-4.70283505e-05, 9.11446295e-06,
  1.62957236e-05,-1.81291577e-04,-3.10636770e-05,-9.39462196e-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,
  1.75589183e-03,-6.27496470e-04,-4.90506418e+00,-7.69425215e-05,
  3.08016902e-02, 7.19141701e-03]


--- Step 2135 ---
qpos:
[-1.72711738e-03, 8.62318401e-01,-2.40114039e-02, 2.33256714e-04,
 -2.82533737e-03, 8.58760029e-01,-2.70334633e-02, 3.06552796e-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,
  7.12819162e-03,-4.26415004e-02, 7.91742538e-02, 6.99281905e-01,
 -8.73137735e-02,-7.04022975e-01,-8.79361868e-02]

qacc:
[ 3.35968231e-01,-1.82323812e+00, 1.18525402e+00, 5.17017138e+00,
  1.52345494e-02,-7.12008252e-01,-3.05653902e+00, 1.60322429e+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,
  2.33953993e+00, 1.07741317e+00, 3.37421219e+00,-3.66690497e+00,
  1.13991071e+02, 9.21537368e+01]

qfrc_actuator:
[ 0.0016036 , 0.03081411, 0.00898183, 0.00183348,-0.00013913, 0.0304761 ,
  0.00859887, 0.00162948,-0.00235807, 0.02915358, 0.00845132, 0.0015699 ,
  0.        ,-0.00135458, 0.        ,-0.00090056, 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: -0.0019962434526482817
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78078063e-14,  2.78078063e-14,  1.00000000e+00, -7.73274090e-28,
        1.00000000e+00, -2.78078063e-14, -1.00000000e+00,  0.00000000e+00,
        2.78078063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00066829, -0.04681611,  0.06180936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06723172e-05,-2.88628946e-04,-7.98531534e-05,-2.46512334e-06,
  2.58937062e-06,-1.67394590e-04,-3.12154188e-05, 2.74387424e-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,
  6.56373074e-04,-5.78467238e-04,-4.90504472e+00,-6.95868325e-05,
  3.08039013e-02, 7.19134720e-03]


--- Step 2136 ---
qpos:
[-1.74286335e-03, 8.62391260e-01,-2.40037195e-02, 2.38317227e-04,
 -2.82815140e-03, 8.58825210e-01,-2.70331209e-02, 3.06666596e-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,
  7.13031844e-03,-4.26205278e-02, 7.92001330e-02, 6.99272030e-01,
 -8.77762721e-02,-7.04029621e-01,-8.74999778e-02]

qacc:
[ 1.90847838e-01, 4.15945124e-01,-8.16614801e+00, 2.33554951e+01,
 -3.39575862e-03, 1.14244304e-01,-7.05955412e+00, 2.61888539e+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,
  2.18101136e+00, 1.00454612e+00, 2.47379143e+00,-3.29665671e+00,
  1.06161694e+02, 8.61754891e+01]

qfrc_actuator:
[ 0.00160941, 0.03075251, 0.00897064, 0.00187408,-0.00014109, 0.03045137,
  0.00862306, 0.00168648,-0.00234805, 0.02913694, 0.00848091, 0.001562  ,
  0.        ,-0.00140972, 0.        ,-0.00089949, 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: -0.001978876871657362
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80518470e-14, -8.41555410e-14,  1.00000000e+00,  2.36071836e-27,
        1.00000000e+00,  8.41555410e-14, -1.00000000e+00,  0.00000000e+00,
        2.80518470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00068186, -0.04682063,  0.06181103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44480617e-05,-2.41401111e-04,-8.13756191e-05, 2.52972281e-05,
 -7.49915304e-07,-1.25196223e-04,-1.38094284e-05, 4.91812099e-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,
  1.12771513e-04,-3.18154427e-04,-4.90505377e+00,-3.44883519e-05,
  3.08067421e-02, 7.18998897e-03]


--- Step 2137 ---
qpos:
[-1.75852475e-03, 8.62461900e-01,-2.39953121e-02, 2.44828171e-04,
 -2.83078261e-03, 8.58889772e-01,-2.70332050e-02, 3.06742503e-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,
  7.14065021e-03,-4.25957719e-02, 7.92328696e-02, 6.99415839e-01,
 -8.83398112e-02,-7.03881715e-01,-8.69717954e-02]

qacc:
[ 4.58068050e-02,-1.96323510e+00,-3.37355936e+00, 2.89465972e+01,
  9.64734152e-02,-4.04621305e-01, 1.85761311e+00,-7.27922656e+00,
  1.84253125e-01, 5.28834186e-01,-7.64817604e+00, 2.52501975e+01,
  2.43865200e-01,-9.40062511e-01,-1.44109132e-01, 2.58877287e-01,
  2.05123893e+00, 9.45804155e-01, 1.71436309e+00,-2.96823258e+00,
  9.96792095e+01, 8.12317330e+01]

qfrc_actuator:
[ 0.00160123, 0.03065199, 0.00901438, 0.00194922,-0.00012338, 0.03042887,
  0.00860178, 0.00166632,-0.00232471, 0.0290779 , 0.00848235, 0.00161108,
  0.        ,-0.00146027, 0.        ,-0.00089859, 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: -0.001945916726525873
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42634961e-14, -2.85269922e-14,  1.00000000e+00, -4.06894641e-28,
        1.00000000e+00,  2.85269922e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42634961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00070647, -0.0468282 ,  0.06181411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.99969439e-06,-2.52996512e-04,-1.59017866e-05, 6.23471632e-05,
  1.73388996e-05,-9.48264163e-05,-4.76534336e-05,-2.51476744e-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,
  1.46856371e-05, 1.11793231e-04,-4.90508498e+00, 2.39532390e-05,
  3.08099523e-02, 7.18757118e-03]


--- Step 2138 ---
qpos:
[-1.77394767e-03, 8.62530652e-01,-2.39870021e-02, 2.50819171e-04,
 -2.83301837e-03, 8.58953163e-01,-2.70327405e-02, 3.06724807e-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,
  7.15361159e-03,-4.25845960e-02, 7.92669110e-02, 6.99644055e-01,
 -8.86230851e-02,-7.03651554e-01,-8.67100674e-02]

qacc:
[ 1.25993864e-01,-3.29121789e+00, 1.03105993e+01,-1.77672986e+01,
  2.09531073e-01,-5.00428591e+00, 1.95501722e+01,-3.57712088e+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,
  6.57399935e-01,-3.39498015e+00, 3.26195810e-01, 4.38611798e+00,
  8.24281996e+01,-1.84514397e+02]

qfrc_actuator:
[ 1.62028635e-03, 3.05470042e-02, 9.00131675e-03, 1.91982238e-03,
 -9.40555141e-05, 3.03544040e-02, 8.62481240e-03, 1.61863851e-03,
 -2.27584699e-03, 2.89761281e-02, 8.46701839e-03, 1.60445705e-03,
  0.00000000e+00,-1.47214172e-03, 0.00000000e+00,-9.51058973e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019313587582012598
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87420196e-14,  2.87420196e-14,  1.00000000e+00, -8.26103689e-28,
        1.00000000e+00, -2.87420196e-14, -1.00000000e+00,  0.00000000e+00,
        2.87420196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00684199, -0.02201865,  0.06181563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26713548e-05,-2.48799269e-04,-6.57345954e-05,-3.97032022e-05,
  3.75180639e-05,-1.39955394e-04,-3.81039940e-06,-5.39798610e-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,
  2.81577866e-04, 6.81596909e-04,-4.90513505e+00, 1.02511459e-04,
  3.08133121e-02, 7.18426089e-03]


--- Step 2139 ---
qpos:
[-1.78851703e-03, 8.62598362e-01,-2.39803683e-02, 2.55719906e-04,
 -2.83506155e-03, 8.59014922e-01,-2.70320377e-02, 3.06658092e-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,
  7.16906396e-03,-4.25861433e-02, 7.92995619e-02, 6.99951255e-01,
 -8.86451491e-02,-7.03344831e-01,-8.66967512e-02]

qacc:
[ 4.48120700e-01, 1.05897149e+00,-1.17490537e+00,-1.42434027e+01,
  1.02395403e-01,-3.82804534e+00, 1.25917323e+01,-2.02608876e+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,
  6.22748922e-01,-3.18080674e+00,-3.47618636e-01, 4.15986165e+00,
  7.69040530e+01,-1.71983321e+02]

qfrc_actuator:
[ 1.69100463e-03, 3.05109006e-02, 8.91920487e-03, 1.86459222e-03,
 -9.35582016e-05, 3.02318159e-02, 8.62036274e-03, 1.59066376e-03,
 -2.30089988e-03, 2.89027029e-02, 8.45942012e-03, 1.58281265e-03,
  0.00000000e+00,-1.46068832e-03, 0.00000000e+00,-9.99041338e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001912101814396161
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90314830e-14, -1.16125932e-13,  1.00000000e+00,  3.37130801e-27,
        1.00000000e+00,  1.16125932e-13, -1.00000000e+00,  0.00000000e+00,
        2.90314830e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068356 , -0.02199743,  0.06181755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.13128091e-05,-1.92182366e-04,-1.43575223e-04,-6.90604686e-05,
  1.82411255e-05,-2.05469440e-04,-3.62001771e-05,-3.52509141e-05,
  6.08300353e-06,-1.68036276e-04,-4.42957259e-05,-2.96855920e-05,
  3.54891204e-03,-1.53406272e-05,-1.02722596e-05,-5.20767571e-05,
  4.33429310e-04, 3.99390922e-04,-4.90504661e+00, 1.28914356e-04,
  3.08057604e-02, 7.18297418e-03]


--- Step 2140 ---
qpos:
[-1.80236759e-03, 8.62664983e-01,-2.39746296e-02, 2.59869738e-04,
 -2.83719013e-03, 8.59075801e-01,-2.70325305e-02, 3.06558568e-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,
  7.18688928e-03,-4.25997021e-02, 7.93285315e-02, 7.00332679e-01,
 -8.84218526e-02,-7.02965986e-01,-8.69168368e-02]

qacc:
[ 3.77758774e-01,-4.84505668e-01, 2.80809375e+00,-1.35702505e+01,
 -4.55552693e-02, 1.49985718e+00,-5.65227708e+00, 2.53588137e+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,
  5.93237716e-01,-3.00287677e+00,-9.20329983e-01, 3.95268840e+00,
  7.23242873e+01,-1.61557326e+02]

qfrc_actuator:
[ 0.001721  , 0.03048053, 0.00888604, 0.00183015,-0.00011031, 0.03020555,
  0.00856401, 0.00157444,-0.00233445, 0.02890009, 0.00849206, 0.00157029,
  0.        ,-0.00143538, 0.        ,-0.00104397, 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: -0.0018772633081508491
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95702531e-14,  2.95702531e-14,  1.00000000e+00, -8.74399871e-28,
        1.00000000e+00, -2.95702531e-14, -1.00000000e+00,  0.00000000e+00,
        2.95702531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682404, -0.02196084,  0.06182081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84756695e-05,-1.72077123e-04,-9.35172791e-05,-4.91100587e-05,
 -8.14166323e-06,-1.51633271e-04,-1.04963047e-04,-2.70598543e-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,
  6.07672792e-04,-4.09609093e-05,-4.90502071e+00, 1.09030095e-04,
  3.08021226e-02, 7.18373099e-03]


--- Step 2141 ---
qpos:
[-1.81582194e-03, 8.62730666e-01,-2.39689490e-02, 2.63147576e-04,
 -2.83945559e-03, 8.59136077e-01,-2.70337063e-02, 3.06502059e-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,
  7.20698645e-03,-4.26246801e-02, 7.93518714e-02, 7.00784128e-01,
 -8.79663628e-02,-7.02518420e-01,-8.73578542e-02]

qacc:
[ 2.08585656e-01,-2.87080733e+00, 1.21193791e+01,-2.64298402e+01,
 -7.24631953e-02, 1.99459637e+00,-1.00862066e+01, 1.90694738e+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,
  5.67962249e-01,-2.85479526e+00,-1.40741897e+00, 3.76181604e+00,
  6.85348607e+01,-1.52893582e+02]

qfrc_actuator:
[ 0.00172635, 0.03047182, 0.00889989, 0.00179052,-0.00011946, 0.03021922,
  0.00854887, 0.00160081,-0.00231949, 0.02890459, 0.00856624, 0.00152782,
  0.        ,-0.0014375 , 0.        ,-0.00105123, 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: -0.001830151188749532
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.06629131e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.06629131e-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([ 0.00680843, -0.02191226,  0.0618251 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77395555e-05,-1.27952765e-04,-3.54788201e-05,-5.13079860e-05,
 -1.30206921e-05,-9.54105100e-05,-6.08080651e-05, 1.56196615e-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,
  8.00307445e-04,-6.11020516e-04,-4.90504756e+00, 4.83988049e-05,
  3.08016985e-02, 7.18627377e-03]


--- Step 2142 ---
qpos:
[-1.82862934e-03, 8.62795561e-01,-2.39635625e-02, 2.65918676e-04,
 -2.84183321e-03, 8.59195520e-01,-2.70347964e-02, 3.06509384e-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,
  7.22926818e-03,-4.26605829e-02, 7.93679228e-02, 7.01301874e-01,
 -8.72895918e-02,-7.02004659e-01,-8.80094725e-02]

qacc:
[ 3.40218687e-01,-1.26347851e+00, 5.13125293e+00,-1.28508359e+01,
 -5.88305901e-02,-2.48211908e-02,-4.20210337e+00, 1.57249585e+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,
  5.46138947e-01,-2.73121670e+00,-1.82212188e+00, 3.58434458e+00,
  6.54100465e+01,-1.45712687e+02]

qfrc_actuator:
[ 0.00177021, 0.03044088, 0.00888821, 0.00176595,-0.00012396, 0.03018593,
  0.00855841, 0.00163435,-0.00232888, 0.02891351, 0.00859338, 0.00148585,
  0.        ,-0.0014561 , 0.        ,-0.00087647, 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: -0.0017735297880724643
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69497199e-14, -6.25996266e-14,  1.00000000e+00,  2.93903494e-27,
        1.00000000e+00,  6.25996266e-14, -1.00000000e+00,  0.00000000e+00,
        4.69497199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0067897 , -0.02185447,  0.06183018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.16453975e-05,-1.13593197e-04,-4.48116578e-05,-3.23851130e-05,
 -1.06772913e-05,-9.99764701e-05,-1.75789810e-05, 2.75628142e-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,
  1.00863168e-03,-1.29047735e-03,-4.90512047e+00,-4.88185757e-05,
  3.08039029e-02, 7.19039284e-03]


--- Step 2143 ---
qpos:
[-1.84099113e-03, 8.62859552e-01,-2.39583853e-02, 2.69070935e-04,
 -2.84409465e-03, 8.59253606e-01,-2.70346507e-02, 3.06486327e-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,
  7.23633235e-03,-4.26892890e-02, 7.93729406e-02, 7.01504074e-01,
 -8.67332380e-02,-7.01805998e-01,-8.85309072e-02]

qacc:
[ 2.34491718e-01, 1.75586772e-01,-3.96711605e+00, 1.15626293e+01,
  6.25917031e-02,-5.86612377e+00, 1.96007638e+01,-2.58450283e+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,
 -3.80438866e+00, 1.79918378e+00,-2.75840393e+00, 3.56419898e+00,
 -2.32228853e+02, 6.02777125e+01]

qfrc_actuator:
[ 0.00178351, 0.03039684, 0.00887923, 0.00178592,-0.00010789, 0.03010717,
  0.00861778, 0.00161855,-0.00235277, 0.02887159, 0.0086103 , 0.00153326,
  0.        ,-0.00146679, 0.        ,-0.00077341, 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: -0.0018289751604727428
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55264394e-14,  2.27632197e-14,  1.00000000e+00, -1.03632834e-27,
        1.00000000e+00, -2.27632197e-14, -1.00000000e+00,  0.00000000e+00,
        4.55264394e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04929404, -0.05876887,  0.06182541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.24534257e-05,-1.19766865e-04,-3.96382965e-05, 1.28041982e-05,
  1.10020388e-05,-1.38536010e-04, 3.70466906e-05,-2.02375449e-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,
  1.23087653e-03,-2.06498198e-03,-4.90523511e+00,-1.79504181e-04,
  3.08082338e-02, 7.19591413e-03]


--- Step 2144 ---
qpos:
[-1.85338219e-03, 8.62922635e-01,-2.39531078e-02, 2.72759735e-04,
 -2.84619080e-03, 8.59310592e-01,-2.70343391e-02, 3.06379464e-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,
  7.22949789e-03,-4.27114094e-02, 7.93645552e-02, 7.01418390e-01,
 -8.62861867e-02,-7.01895835e-01,-8.89335293e-02]

qacc:
[-1.49760807e-02,-3.74458155e-01,-2.66957290e+00, 1.24614226e+01,
  8.77089385e-02,-3.63975629e+00, 1.44081493e+01,-2.83728838e+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,
 -3.47465761e+00, 1.64643439e+00,-3.35079998e+00, 3.63971579e+00,
 -2.12200845e+02, 5.47739279e+01]

qfrc_actuator:
[ 1.76066212e-03, 3.03631082e-02, 8.88964074e-03, 1.81415631e-03,
 -9.74130807e-05, 3.00374897e-02, 8.61710090e-03, 1.57384555e-03,
 -2.34962335e-03, 2.88173540e-02, 8.63867866e-03, 1.57957759e-03,
  0.00000000e+00,-1.47258794e-03, 0.00000000e+00,-8.19987285e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018688316124277349
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59907083e-14,  2.97036666e-14,  1.00000000e+00, -7.72019336e-28,
        1.00000000e+00, -2.97036666e-14, -1.00000000e+00,  0.00000000e+00,
        2.59907083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04922814, -0.05873753,  0.06182196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81655827e-06,-1.09878441e-04,-1.93019106e-05, 2.18781021e-05,
  1.56692689e-05,-1.41753549e-04,-2.58929491e-05,-4.98421227e-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,
  1.26131221e-04,-5.14522912e-04,-4.90514641e+00,-1.34859679e-04,
  3.08066883e-02, 7.19331621e-03]


--- Step 2145 ---
qpos:
[-1.86550761e-03, 8.62984154e-01,-2.39476511e-02, 2.75799747e-04,
 -2.84813464e-03, 8.59366387e-01,-2.70345561e-02, 3.06260346e-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,
  7.20988301e-03,-4.27274610e-02, 7.93407238e-02, 7.01067696e-01,
 -8.59390881e-02,-7.02251468e-01,-8.92268672e-02]

qacc:
[ 1.40274227e-01,-3.90207894e+00, 1.36529363e+01,-2.40204912e+01,
  8.04733523e-02,-3.49013237e-01,-5.22149985e-01, 1.22713101e-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,
 -3.19510702e+00, 1.51718691e+00,-3.86151219e+00, 3.68438021e+00,
 -1.95381780e+02, 5.01537020e+01]

qfrc_actuator:
[ 1.78743215e-03, 3.02294184e-02, 8.87596629e-03, 1.77604504e-03,
 -9.03875427e-05, 2.99557968e-02, 8.58096169e-03, 1.56570436e-03,
 -2.34807842e-03, 2.88272253e-02, 8.65577024e-03, 1.58935312e-03,
  0.00000000e+00,-1.47528973e-03, 0.00000000e+00,-7.41303525e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018796767302291378
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84576789e-14, -5.90645725e-14,  1.00000000e+00,  1.09019491e-27,
        1.00000000e+00,  5.90645725e-14, -1.00000000e+00,  0.00000000e+00,
        1.84576789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0492099 , -0.05872796,  0.06182097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52809957e-05,-1.99705100e-04,-3.85236938e-05,-4.31680812e-05,
  1.44289807e-05,-1.69808668e-04,-7.07846451e-05,-1.61663750e-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,
  1.24322299e-04, 3.48470103e-04,-4.90510564e+00,-1.07772119e-04,
  3.08060896e-02, 7.19084912e-03]


--- Step 2146 ---
qpos:
[-1.87673180e-03, 8.63043876e-01,-2.39424851e-02, 2.78076886e-04,
 -2.84995468e-03, 8.59420747e-01,-2.70354316e-02, 3.06205441e-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,
  7.17844430e-03,-4.27378851e-02, 7.92996831e-02, 7.00470903e-01,
 -8.56840576e-02,-7.02853479e-01,-8.94189193e-02]

qacc:
[ 4.74157921e-01,-3.13176154e+00, 1.09414818e+01,-2.23596224e+01,
  6.54741428e-02, 1.26420746e+00,-9.97086074e+00, 2.31943641e+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,
 -2.95595399e+00, 1.40687813e+00,-4.30232533e+00, 3.70804678e+00,
 -1.81234808e+02, 4.62655697e+01]

qfrc_actuator:
[ 1.86144285e-03, 3.01077830e-02, 8.84771876e-03, 1.73459892e-03,
 -8.54860631e-05, 2.98674250e-02, 8.54192954e-03, 1.59687491e-03,
 -2.32977039e-03, 2.87688320e-02, 8.61303201e-03, 1.64860451e-03,
  0.00000000e+00,-1.47621620e-03, 0.00000000e+00,-6.07150884e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001866928169728152
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46009269e-14, -2.23004635e-14,  1.00000000e+00,  9.94621341e-28,
        1.00000000e+00,  2.23004635e-14, -1.00000000e+00,  0.00000000e+00,
        4.46009269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04922964, -0.05873569,  0.06182193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.58750399e-05,-2.44596585e-04,-7.62569734e-05,-5.22796613e-05,
  1.17145275e-05,-1.99971057e-04,-8.38233382e-05, 2.10481011e-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,
  9.74544184e-04, 6.77413805e-04,-4.90510223e+00,-9.26178949e-05,
  3.08062932e-02, 7.18825955e-03]


--- Step 2147 ---
qpos:
[-1.88739418e-03, 8.63102371e-01,-2.39379658e-02, 2.79789459e-04,
 -2.85167821e-03, 8.59473383e-01,-2.70363849e-02, 3.06187886e-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,
  7.14337571e-03,-4.27330501e-02, 7.92596213e-02, 6.99780269e-01,
 -8.57192835e-02,-7.03551723e-01,-8.93014692e-02]

qacc:
[ 2.95297260e-01,-9.76861413e-01, 3.51298475e+00,-1.13469822e+01,
  5.15317593e-02,-1.29089974e+00,-2.79165220e-01, 8.13443587e+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,
 -9.07472868e-01, 3.81478919e+00, 2.44737824e-01, 7.39151154e+00,
 -9.29192908e+01, 2.02084157e+02]

qfrc_actuator:
[ 1.87429294e-03, 3.00830017e-02, 8.82887825e-03, 1.70927811e-03,
 -8.18914389e-05, 2.97757662e-02, 8.53700818e-03, 1.61541159e-03,
 -2.30160045e-03, 2.87053196e-02, 8.53509084e-03, 1.64764495e-03,
  0.00000000e+00,-1.45835868e-03, 0.00000000e+00,-6.72209611e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018506785775412454
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99950256e-14, -4.49925383e-14,  1.00000000e+00,  1.34955234e-27,
        1.00000000e+00,  4.49925383e-14, -1.00000000e+00,  0.00000000e+00,
        2.99950256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02128462, -0.06491121,  0.06182309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35289001e-05,-1.80977075e-04,-8.10696384e-05,-3.95574160e-05,
  9.11833648e-06,-2.21184351e-04,-5.62445850e-05, 7.39749829e-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,
  2.49441474e-03, 5.85118205e-04,-4.90512433e+00,-8.53339756e-05,
  3.08071402e-02, 7.18537381e-03]


--- Step 2148 ---
qpos:
[-1.89822724e-03, 8.63159674e-01,-2.39335479e-02, 2.81139674e-04,
 -2.85351346e-03, 8.59523925e-01,-2.70366656e-02, 3.06192080e-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,
  7.11938517e-03,-4.27227949e-02, 7.92418000e-02, 6.99294749e-01,
 -8.58850451e-02,-7.04043613e-01,-8.90685352e-02]

qacc:
[-8.93712682e-02,-2.03718980e+00, 6.50786732e+00,-1.17418824e+01,
 -5.77835599e-02,-4.19365551e+00, 1.00237321e+01,-5.80131522e+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,
  2.76951362e+00, 1.35504201e+00, 5.56012380e+00,-5.47147663e+00,
  1.33576638e+02, 1.04328617e+02]

qfrc_actuator:
[ 1.83267297e-03, 3.00454711e-02, 8.83390687e-03, 1.69373934e-03,
 -9.68558010e-05, 2.96652457e-02, 8.56998863e-03, 1.62637971e-03,
 -2.32104451e-03, 2.86390232e-02, 8.50792843e-03, 1.61123059e-03,
  0.00000000e+00,-1.51801282e-03, 0.00000000e+00,-9.42890171e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019053952382463366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37005012e-14,  2.91336674e-14,  1.00000000e+00, -1.27315587e-27,
        1.00000000e+00, -2.91336674e-14, -1.00000000e+00,  0.00000000e+00,
        4.37005012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00073558, -0.04685533,  0.0618181 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63103125e-05,-1.58570094e-04,-4.41978853e-05,-2.69648945e-05,
 -1.06727518e-05,-2.46755843e-04,-1.97845340e-05,-3.88723206e-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,
  3.00091731e-03,-7.18257140e-04,-4.90506726e+00,-1.42536631e-04,
  3.08012383e-02, 7.18148642e-03]


--- Step 2149 ---
qpos:
[-1.90898590e-03, 8.63216170e-01,-2.39293485e-02, 2.82593889e-04,
 -2.85548792e-03, 8.59573215e-01,-2.70374432e-02, 3.06206505e-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,
  7.10553895e-03,-4.27076250e-02, 7.92412860e-02, 6.98997639e-01,
 -8.61714109e-02,-7.04346535e-01,-8.87285051e-02]

qacc:
[ 3.92537896e-02,-2.41690688e-01,-1.12450510e+00, 3.86697763e+00,
 -7.33224520e-02,-5.71650705e-02,-2.63093056e+00, 6.11794759e+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,
  2.53608049e+00, 1.22865665e+00, 4.32681501e+00,-4.79352115e+00,
  1.22427023e+02, 9.64067318e+01]

qfrc_actuator:
[ 0.00184764, 0.03003625, 0.00883522, 0.00170185,-0.00010503, 0.02963323,
  0.00855398, 0.00163281,-0.00235106, 0.02855398, 0.00858195, 0.0015898 ,
  0.        ,-0.00153474, 0.        ,-0.0011372 , 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: -0.001932014518975407
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43661320e-14, -2.87322640e-14,  1.00000000e+00,  4.12771498e-28,
        1.00000000e+00,  2.87322640e-14, -1.00000000e+00,  0.00000000e+00,
        1.43661320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00071769, -0.04685326,  0.06181571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06979500e-06,-1.09551955e-04,-3.82973690e-05,-8.34672456e-07,
 -1.32631093e-05,-1.75311084e-04,-6.98203699e-05,-4.90612505e-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,
  1.38561927e-03,-7.78167228e-04,-4.90500613e+00,-1.51056681e-04,
  3.07986391e-02, 7.18593067e-03]


--- Step 2150 ---
qpos:
[-1.91957154e-03, 8.63271518e-01,-2.39247980e-02, 2.84480909e-04,
 -2.85738403e-03, 8.59621765e-01,-2.70390120e-02, 3.06258255e-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,
  7.10106715e-03,-4.26879492e-02, 7.92539081e-02, 6.98874930e-01,
 -8.65700793e-02,-7.04474714e-01,-8.82883364e-02]

qacc:
[ 9.15815384e-02,-1.60495436e+00, 1.69623148e+00, 6.07457868e+00,
  4.11182322e-02, 2.00016709e+00,-1.01263895e+01, 1.83980105e+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,
  2.34360267e+00, 1.12650678e+00, 3.28404961e+00,-4.22164104e+00,
  1.13195375e+02, 8.98144139e+01]

qfrc_actuator:
[ 1.86088206e-03, 2.99731016e-02, 8.85220816e-03, 1.72381860e-03,
 -9.13138272e-05, 2.96305624e-02, 8.52723197e-03, 1.65430703e-03,
 -2.36934559e-03, 2.85830734e-02, 8.57302294e-03, 1.59515364e-03,
  0.00000000e+00,-1.49015535e-03, 0.00000000e+00,-9.65328140e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019348510729556567
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.73802832e-14, -2.86901416e-14,  1.00000000e+00,  1.64624845e-27,
        1.00000000e+00,  2.86901416e-14, -1.00000000e+00,  0.00000000e+00,
        5.73802832e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00071684, -0.04685534,  0.0618155 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64683838e-05,-1.33712451e-04,-1.08551298e-05, 1.58448746e-05,
  7.41620851e-06,-1.16506979e-04,-7.21128481e-05, 1.13973208e-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,
  4.45743608e-04,-5.97138396e-04,-4.90498209e+00,-1.28142139e-04,
  3.07975157e-02, 7.18831295e-03]


--- Step 2151 ---
qpos:
[-1.93013558e-03, 8.63325395e-01,-2.39199271e-02, 2.87349522e-04,
 -2.85914891e-03, 8.59669386e-01,-2.70406209e-02, 3.06332344e-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,
  7.10533698e-03,-4.26640965e-02, 7.92761434e-02, 6.98914854e-01,
 -8.70741121e-02,-7.04439777e-01,-8.77537829e-02]

qacc:
[ 1.21273018e-02,-8.17670868e-01,-4.04769595e+00, 2.16029683e+01,
  6.95772144e-02,-6.55926338e-01,-3.86236329e-01, 4.99943461e+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,
  2.18540893e+00, 1.04419826e+00, 2.40326866e+00,-3.73347685e+00,
  1.05547176e+02, 8.43346253e+01]

qfrc_actuator:
[ 1.85520397e-03, 2.98782553e-02, 8.86037166e-03, 1.77149291e-03,
 -8.23707125e-05, 2.95922323e-02, 8.53003779e-03, 1.66677230e-03,
 -2.36269794e-03, 2.86090249e-02, 8.49788185e-03, 1.59849828e-03,
  0.00000000e+00,-1.46272998e-03, 0.00000000e+00,-7.56639400e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019185534300566742
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89338573e-14, -2.89338573e-14,  1.00000000e+00,  8.37168100e-28,
        1.00000000e+00,  2.89338573e-14, -1.00000000e+00,  0.00000000e+00,
        2.89338573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072957, -0.04686079,  0.06181704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01916582e-06,-1.72511365e-04,-2.07083958e-05, 4.17865175e-05,
  1.24422753e-05,-1.19036259e-04,-3.01208546e-05, 5.12740682e-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,
  3.84860272e-05,-2.24929765e-04,-4.90498535e+00,-7.91685320e-05,
  3.07973981e-02, 7.18906876e-03]


--- Step 2152 ---
qpos:
[-1.94030997e-03, 8.63378415e-01,-2.39158061e-02, 2.91451640e-04,
 -2.86060162e-03, 8.59715670e-01,-2.70414190e-02, 3.06350901e-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,
  7.11783042e-03,-4.26363312e-02, 7.93050191e-02, 6.99107508e-01,
 -8.76777184e-02,-7.04251196e-01,-8.71295761e-02]

qacc:
[  0.20465348,  3.50115138,-19.33419025, 42.51398235,  0.16568465,
  -5.17122874, 18.22105545,-28.15101665,  0.19061526,  1.35473929,
  -8.79838427, 21.9391617 ,  0.18304476,  0.46523231, -4.33016576,
  15.28610023,  2.05590236,  0.97815231,  1.66011585, -3.31102203,
  99.21441603, 79.79232309]

qfrc_actuator:
[ 1.89151504e-03, 2.98539373e-02, 8.82762381e-03, 1.83386636e-03,
 -5.86250084e-05, 2.95152382e-02, 8.56789412e-03, 1.63831581e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018870229505683483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94173164e-14, -5.88346328e-14,  1.00000000e+00,  1.73075701e-27,
        1.00000000e+00,  5.88346328e-14, -1.00000000e+00,  0.00000000e+00,
        2.94173164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075303, -0.04686896,  0.06181995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71331318e-05,-1.24572971e-04,-6.99412257e-05, 5.49880601e-05,
  2.96251738e-05,-1.50687705e-04, 9.37145139e-06,-3.45702590e-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,
  5.97839146e-05, 3.02670446e-04,-4.90501034e+00,-8.08274248e-06,
  3.07979189e-02, 7.18851351e-03]


--- Step 2153 ---
qpos:
[-1.94965939e-03, 8.63430807e-01,-2.39121825e-02, 2.94838846e-04,
 -2.86175238e-03, 8.59760640e-01,-2.70414199e-02, 3.06300331e-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,
  7.13812536e-03,-4.26048642e-02, 7.93380300e-02, 6.99444555e-01,
 -8.83760779e-02,-7.03916644e-01,-8.64195737e-02]

qacc:
[  0.43336888, -0.91242967,  5.06581939,-16.18055351,  0.16026715,
  -5.38050017, 19.58887679,-31.86860326,  0.11948944,  1.91934546,
 -12.12579052, 28.38734446,  0.13931163,  0.64560019,  0.86083594,
  -2.5498034 ,  1.95037521,  0.92544826,  1.03380359, -2.9397099 ,
  93.98047528, 76.04493033]

qfrc_actuator:
[ 1.95264291e-03, 2.98364050e-02, 8.80677670e-03, 1.79789895e-03,
 -4.39837955e-05, 2.94513311e-02, 8.60819340e-03, 1.60374825e-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: -0.0018435283352947751
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51670448e-14, -6.02227264e-14,  1.00000000e+00,  2.72008258e-27,
        1.00000000e+00,  6.02227264e-14, -1.00000000e+00,  0.00000000e+00,
        4.51670448e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007849 , -0.04687929,  0.06182394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.86622013e-05,-1.00555938e-04,-5.37384213e-05,-4.27462816e-05,
  2.86571658e-05,-1.48815246e-04, 8.77423535e-06,-4.14416359e-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,
  4.33734489e-04, 9.60080664e-04,-4.90505430e+00, 8.22196536e-05,
  3.07987782e-02, 7.18687676e-03]


--- Step 2154 ---
qpos:
[-1.95857113e-03, 8.63481901e-01,-2.39074807e-02, 2.97743639e-04,
 -2.86266482e-03, 8.59804731e-01,-2.70411194e-02, 3.06240962e-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,
  7.16135326e-03,-4.25871865e-02, 7.93727307e-02, 6.99865436e-01,
 -8.87918473e-02,-7.03499705e-01,-8.59799094e-02]

qacc:
[ 2.31089941e-01,-5.71830377e+00, 1.99379627e+01,-2.90616949e+01,
  1.26251864e-01,-2.18377290e+00, 6.47267811e+00,-7.83348244e+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,
  7.33240877e-01,-3.44735275e+00, 4.22441946e-01, 3.82487855e+00,
  8.24746315e+01,-1.86740355e+02]

qfrc_actuator:
[ 1.95705915e-03, 2.97698003e-02, 8.86412796e-03, 1.77539258e-03,
 -3.49199351e-05, 2.94312917e-02, 8.63189499e-03, 1.60137739e-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: -0.001844900868115243
  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([ 0.00679142, -0.02194665,  0.06182403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17137536e-05,-1.37015521e-04, 2.80425616e-05,-2.95960721e-05,
  2.26221946e-05,-1.04292079e-04,-7.74296378e-06,-9.31728765e-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,
  1.10510735e-03, 1.72924631e-03,-4.90511641e+00, 1.89625507e-04,
  3.07997195e-02, 7.18432627e-03]


--- Step 2155 ---
qpos:
[-1.96777173e-03, 8.63531513e-01,-2.39014222e-02, 3.00358065e-04,
 -2.86340477e-03, 8.59847837e-01,-2.70402183e-02, 3.06178284e-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,
  7.18732656e-03,-4.25824176e-02, 7.94063997e-02, 7.00365145e-01,
 -8.89443518e-02,-7.03005915e-01,-8.57918971e-02]

qacc:
[-1.50404722e-01,-6.34158728e+00, 2.10005260e+01,-2.71131894e+01,
  9.17407196e-02,-3.04388311e+00, 9.10748197e+00,-9.92037138e+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,
  6.86350695e-01,-3.22718211e+00,-2.57927812e-01, 3.80228286e+00,
  7.71106032e+01,-1.73863956e+02]

qfrc_actuator:
[ 1.90975309e-03, 2.96924266e-02, 8.93151633e-03, 1.76101628e-03,
 -2.92596404e-05, 2.93844068e-02, 8.66356749e-03, 1.60024514e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018327336161399893
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02887178e-14, -9.08661533e-14,  1.00000000e+00,  2.75221927e-27,
        1.00000000e+00,  9.08661533e-14, -1.00000000e+00,  0.00000000e+00,
        3.02887178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00678605, -0.02193291,  0.06182531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75883431e-05,-1.50700484e-04, 4.10831339e-05,-1.99397647e-05,
  1.63652983e-05,-1.08258109e-04, 8.50475691e-06,-6.11664668e-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,
  1.39437132e-03, 1.11021606e-03,-4.90505476e+00, 2.16641827e-04,
  3.07964999e-02, 7.18466143e-03]


--- Step 2156 ---
qpos:
[-1.97755441e-03, 8.63580779e-01,-2.38955632e-02, 3.02394373e-04,
 -2.86402510e-03, 8.59889670e-01,-2.70393831e-02, 3.06226619e-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,
  7.21588865e-03,-4.25898261e-02, 7.94367239e-02, 7.00939265e-01,
 -8.88496772e-02,-7.02439589e-01,-8.58399995e-02]

qacc:
[-3.05858504e-01,-1.09056535e+00, 5.66434542e+00,-1.50964256e+01,
  6.35825955e-02, 7.85282814e-01,-9.92960305e+00, 3.01857262e+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,
  6.47194984e-01,-3.04435797e+00,-8.36194781e-01, 3.76050215e+00,
  7.26605166e+01,-1.63149620e+02]

qfrc_actuator:
[ 1.86747038e-03, 2.97158092e-02, 8.93320666e-03, 1.73376632e-03,
 -2.56709777e-05, 2.92863660e-02, 8.64634498e-03, 1.65309425e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001804438908876424
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07636634e-14, -3.07636634e-14,  1.00000000e+00,  9.46402986e-28,
        1.00000000e+00,  3.07636634e-14, -1.00000000e+00,  0.00000000e+00,
        3.07636634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00677555, -0.02190318,  0.06182798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55354511e-05,-5.44718678e-05,-2.54977048e-05,-3.27585958e-05,
  1.13289119e-05,-1.58120847e-04,-3.90934728e-05, 4.83202133e-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,
  1.69808498e-03, 3.57124327e-04,-4.90505143e+00, 1.97720072e-04,
  3.07964679e-02, 7.18687717e-03]


--- Step 2157 ---
qpos:
[-1.98765024e-03, 8.63629404e-01,-2.38896877e-02, 3.04799748e-04,
 -2.86456432e-03, 8.59930588e-01,-2.70394874e-02, 3.06442911e-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,
  7.24690793e-03,-4.26088038e-02, 7.94617360e-02, 7.01583887e-01,
 -8.85212011e-02,-7.01804024e-01,-8.61113088e-02]

qacc:
[-1.64264173e-01,-1.32518666e-01,-2.31373630e+00, 9.14532647e+00,
  4.26215091e-02, 4.87051504e+00,-2.62118893e+01, 5.74607603e+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,
  6.14298377e-01,-2.89230407e+00,-1.32800150e+00, 3.70598019e+00,
  6.89780066e+01,-1.54241172e+02]

qfrc_actuator:
[ 1.86411570e-03, 2.96748353e-02, 8.93199692e-03, 1.75245395e-03,
 -2.33414124e-05, 2.92470782e-02, 8.60021164e-03, 1.73720220e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017633779536786187
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.2960015e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.2960015e-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([ 0.00676099, -0.02186096,  0.06183172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98908051e-05,-7.93104927e-05,-1.71640313e-05, 1.47494441e-05,
  7.67746033e-06,-1.34719326e-04,-8.22736499e-05, 7.68556233e-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,
  2.01412536e-03,-5.06736862e-04,-4.90509889e+00, 1.38302958e-04,
  3.07992016e-02, 7.19078149e-03]


--- Step 2158 ---
qpos:
[-1.99750055e-03, 8.63676533e-01,-2.38834342e-02, 3.07149193e-04,
 -2.86523545e-03, 8.59970474e-01,-2.70395381e-02, 3.06683739e-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,
  7.26221320e-03,-4.26321000e-02, 7.94700693e-02, 7.01933939e-01,
 -8.80603816e-02,-7.01458776e-01,-8.65430523e-02]

qacc:
[ 1.29749578e-01,-3.14658606e+00, 8.58845333e+00,-9.06418472e+00,
 -6.91784624e-02,-1.00924640e+00, 5.81661840e-01, 4.33794025e+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,
 -3.92850187e+00,-1.07960487e+00,-4.16974156e+00,-1.04098207e+01,
 -1.92407142e+02,-1.28251120e+02]

qfrc_actuator:
[ 1.90183438e-03, 2.95424223e-02, 8.92891106e-03, 1.74473031e-03,
 -3.95292936e-05, 2.92076863e-02, 8.60864229e-03, 1.75028879e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018003700132708522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.08331903e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.08331903e-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([ 0.05529301, -0.03491595,  0.06182861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33806256e-05,-1.80864293e-04,-2.14949349e-05,-1.15125961e-05,
 -1.25668868e-05,-1.29406786e-04,-2.71970020e-05, 5.89797222e-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,
  2.34128597e-03,-1.46514831e-03,-4.90519217e+00, 4.24735120e-05,
  3.08043178e-02, 7.19621260e-03]


--- Step 2159 ---
qpos:
[-2.00658596e-03, 8.63722272e-01,-2.38775185e-02, 3.09769397e-04,
 -2.86606752e-03, 8.60008882e-01,-2.70390128e-02, 3.06940323e-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,
  7.26308492e-03,-4.26593309e-02, 7.94599069e-02, 7.02013739e-01,
 -8.74770336e-02,-7.01380195e-01,-8.71223368e-02]

qacc:
[ 4.02109475e-01,-3.35104462e-01,-2.61315253e+00, 8.86137614e+00,
 -8.40008003e-02,-3.23318817e+00, 8.03428018e+00,-5.14705555e+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,
 -3.60838858e+00,-9.83694122e-01,-4.62389128e+00,-9.10364963e+00,
 -1.76577903e+02,-1.18191952e+02]

qfrc_actuator:
[ 1.96376367e-03, 2.94627732e-02, 8.90657861e-03, 1.75694254e-03,
 -4.88944183e-05, 2.91154595e-02, 8.63144150e-03, 1.75703022e-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,   7.01342528,   5.03970661,   7.01342528,
        33.62360317, -34.77308323,   5.03970661, -34.77308323,
        57.0277562 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018230279492332663
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56749590e-14, -3.04499727e-14,  1.00000000e+00,  1.39080125e-27,
        1.00000000e+00,  3.04499727e-14, -1.00000000e+00,  0.00000000e+00,
        4.56749590e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05524928, -0.03492141,  0.06182666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.29291592e-05,-1.86868518e-04,-6.31502388e-05, 3.41283980e-06,
 -1.53357014e-05,-1.70914565e-04,-7.39351863e-06, 3.06914197e-07,
  1.59288721e-05, 3.26050655e-05, 1.72907303e-05,-3.13166430e-05,
  3.29058901e-03, 2.28685496e-05,-5.95057285e-06,-5.39460594e-05,
  5.61518744e-04,-9.34734371e-04,-4.90512672e+00,-2.99458300e-06,
  3.08032189e-02, 7.18884586e-03]


--- Step 2160 ---
qpos:
[-2.01525804e-03, 8.63767262e-01,-2.38722377e-02, 3.12797217e-04,
 -2.86684378e-03, 8.60046182e-01,-2.70380119e-02, 3.07129768e-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,
  7.25061578e-03,-4.26901719e-02, 7.94296769e-02, 7.01843408e-01,
 -8.67793612e-02,-7.01548021e-01,-8.78381886e-02]

qacc:
[ 2.17008736e-01, 1.62261544e+00,-8.94285796e+00, 1.75649916e+01,
  3.01032436e-02,-4.17259892e+00, 1.55883002e+01,-2.71581729e+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,
 -3.33521510e+00,-9.02520778e-01,-5.01693428e+00,-7.97066851e+00,
 -1.63255833e+02,-1.09702031e+02]

qfrc_actuator:
[ 1.96859120e-03, 2.94685325e-02, 8.89101558e-03, 1.78081197e-03,
 -3.63314663e-05, 2.90811511e-02, 8.66231787e-03, 1.72444894e-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,   7.4662438 ,   4.340735  ,   7.4662438 ,
        27.78962396, -32.94440022,   4.340735  , -32.94440022,
        65.30209506,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018201376005269748
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52491634e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.52491634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05525352, -0.03491842,  0.06182683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94084991e-05,-1.12741836e-04,-6.22244516e-05, 1.36630141e-05,
  5.27476978e-06,-1.32325468e-04,-5.63535484e-06,-4.02161200e-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,
  1.06761531e-06,-6.63975346e-05,-4.90509594e+00,-2.12359464e-05,
  3.07987607e-02, 7.18664222e-03]


--- Step 2161 ---
qpos:
[-2.02385652e-03, 8.63811853e-01,-2.38677074e-02, 3.16047686e-04,
 -2.86713798e-03, 8.60082941e-01,-2.70366566e-02, 3.07306521e-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,
  7.22478796e-03,-4.27146929e-02, 7.93853785e-02, 7.01390490e-01,
 -8.61891964e-02,-7.01998319e-01,-8.84373379e-02]

qacc:
[ 3.83416251e-02, 2.02548960e+00,-8.92993790e+00, 1.42797751e+01,
  2.54704208e-01,-1.96330686e+00, 6.50143535e+00,-8.86957895e+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,
 -3.33966812e+00, 1.58000811e+00,-3.51706902e+00, 3.35398999e+00,
 -2.08035528e+02, 5.39969558e+01]

qfrc_actuator:
[ 1.95695592e-03, 2.94721938e-02, 8.86219376e-03, 1.79367793e-03,
  6.98858443e-06, 2.90995695e-02, 8.69791059e-03, 1.72229786e-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: -0.0018396350176203835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88594309e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.88594309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04929799, -0.0587419 ,  0.06182492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00684542e-06,-7.27417188e-05,-5.96943653e-05, 6.06842808e-06,
  4.58039098e-05,-5.93669656e-05, 5.87049542e-06,-8.85909379e-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,
  3.97807483e-04, 1.06481281e-03,-4.90509263e+00,-1.96035952e-05,
  3.07920615e-02, 7.18836373e-03]


--- Step 2162 ---
qpos:
[-2.03245845e-03, 8.63855563e-01,-2.38633701e-02, 3.18757757e-04,
 -2.86693208e-03, 8.60119395e-01,-2.70358718e-02, 3.07517030e-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,
  7.18665066e-03,-4.27333702e-02, 7.93250419e-02, 7.00676632e-01,
 -8.56971673e-02,-7.02708966e-01,-8.89289727e-02]

qacc:
[-1.65470627e-03,-1.73602739e+00, 6.78358960e+00,-1.51813780e+01,
  2.63552816e-01, 1.88307284e+00,-8.72673281e+00, 1.57087660e+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,
 -3.07737085e+00, 1.46090776e+00,-4.00955681e+00, 3.58887695e+00,
 -1.91865471e+02, 4.93922980e+01]

qfrc_actuator:
[ 1.95336998e-03, 2.94035365e-02, 8.84353888e-03, 1.76445847e-03,
  3.28090514e-05, 2.90784883e-02, 8.66525365e-03, 1.73812899e-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([ 8.63636364,  8.59083057,  0.88566754,  8.59083057,  9.49358078,
       -8.31486636,  0.88566754, -8.31486636, 89.28921002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018433930451929592
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76419664e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.76419664e-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([ 0.0492858 , -0.05873505,  0.0618243 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56351246e-07,-1.22484548e-04,-4.12080826e-05,-3.43618765e-05,
  4.75195820e-05,-5.43350551e-05,-4.48072315e-05, 1.32569942e-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,
  1.72045072e-03, 1.76373733e-03,-4.90511884e+00, 8.28078429e-06,
  3.07949334e-02, 7.19085567e-03]


--- Step 2163 ---
qpos:
[-2.04104945e-03, 8.63898076e-01,-2.38582724e-02, 3.20379438e-04,
 -2.86670378e-03, 8.60155611e-01,-2.70360210e-02, 3.07608342e-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,
  7.13711571e-03,-4.27466159e-02, 7.92469603e-02, 6.99719722e-01,
 -8.52953444e-02,-7.03661004e-01,-8.93208068e-02]

qacc:
[ 6.59029331e-03,-5.94290076e+00, 2.34920300e+01,-4.26693971e+01,
  1.12452481e-02,-1.59523934e-01, 5.14347570e+00,-2.41035137e+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,
 -2.84941378e+00, 1.35790105e+00,-4.43624918e+00, 3.78166940e+00,
 -1.78252681e+02, 4.55079790e+01]

qfrc_actuator:
[ 1.95466127e-03, 2.93453862e-02, 8.88398465e-03, 1.71066174e-03,
  1.24136603e-05, 2.90514412e-02, 8.61018259e-03, 1.67557256e-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: -0.0018247789605972328
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04207537e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04207537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04930976, -0.05874474,  0.06182554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01281988e-06,-1.37684274e-04, 8.50672912e-06,-6.12145956e-05,
  2.11852241e-06,-6.69943485e-05,-7.16542385e-05,-6.62377551e-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,
  3.76188032e-03, 1.96130366e-03,-4.90517077e+00, 2.38609904e-05,
  3.07985466e-02, 7.19279968e-03]


--- Step 2164 ---
qpos:
[-2.04940628e-03, 8.63940179e-01,-2.38533818e-02, 3.21998297e-04,
 -2.86659471e-03, 8.60191506e-01,-2.70363176e-02, 3.07619509e-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,
  7.10017086e-03,-4.27543240e-02, 7.92004228e-02, 6.98999160e-01,
 -8.50471452e-02,-7.04374958e-01,-8.95716233e-02]

qacc:
[ 1.23000365e-01, 2.94366451e-02,-8.81014148e-01, 1.46551281e+00,
 -6.29189592e-02,-1.66052131e+00, 8.68971900e+00,-2.20904683e+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,
  3.14752617e+00, 1.38442474e+00, 7.88601844e+00,-4.68563566e+00,
  1.53574972e+02, 1.24095031e+02]

qfrc_actuator:
[ 1.97661850e-03, 2.93652190e-02, 8.88800427e-03, 1.71389332e-03,
  7.16531966e-08, 2.90563746e-02, 8.61326525e-03, 1.63838863e-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: -0.0019236779020793751
  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([-0.00072071, -0.04685944,  0.06181642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23304190e-05,-5.90588553e-05,-2.58579955e-05,-3.63715156e-06,
 -1.13443228e-05,-5.10332543e-05,-2.21625490e-05,-4.38798739e-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,
  6.36651612e-03, 1.76274026e-03,-4.90523353e+00, 3.11856579e-05,
  3.08026407e-02, 7.19398595e-03]


--- Step 2165 ---
qpos:
[-2.05766704e-03, 8.63981816e-01,-2.38484894e-02, 3.23288089e-04,
 -2.86624624e-03, 8.60227047e-01,-2.70366426e-02, 3.07619954e-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,
  7.07461184e-03,-4.27570185e-02, 7.91790350e-02, 6.98493058e-01,
 -8.49382190e-02,-7.04874274e-01,-8.96950628e-02]

qacc:
[ 5.06059491e-02,-1.29771485e+00, 5.12248768e+00,-1.04782705e+01,
  1.26371449e-01,-6.09475585e-01, 1.94646519e+00,-3.49679883e+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,
  2.84645736e+00, 1.25338372e+00, 6.28742336e+00,-4.30844245e+00,
  1.38891908e+02, 1.12300371e+02]

qfrc_actuator:
[ 1.97524245e-03, 2.93427715e-02, 8.88858395e-03, 1.69743379e-03,
  2.81996298e-05, 2.90451690e-02, 8.61532198e-03, 1.63426712e-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: -0.0019917436662194865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78706302e-14, -2.78706302e-14,  1.00000000e+00,  7.76772029e-28,
        1.00000000e+00,  2.78706302e-14, -1.00000000e+00,  0.00000000e+00,
        2.78706302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00067252, -0.04684567,  0.06181024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.15399133e-06,-6.19908800e-05,-1.52959302e-05,-2.00281971e-05,
  2.27460038e-05,-4.70596910e-05,-1.30152204e-05,-7.98337277e-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,
  3.54172232e-03, 7.59040189e-04,-4.90511176e+00,-8.10320580e-05,
  3.08020870e-02, 7.19705220e-03]


--- Step 2166 ---
qpos:
[-2.06585759e-03, 8.64022855e-01,-2.38438303e-02, 3.24057404e-04,
 -2.86598324e-03, 8.60262245e-01,-2.70372614e-02, 3.07651556e-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,
  7.05944271e-03,-4.27551301e-02, 7.91773847e-02, 6.98183131e-01,
 -8.49566573e-02,-7.05178116e-01,-8.97023194e-02]

qacc:
[ 3.69056499e-02,-1.20925376e+00, 5.36300999e+00,-1.35589191e+01,
 -4.51257354e-02, 1.00810830e+00,-5.56831514e+00, 1.16842139e+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,
  2.59747204e+00, 1.14572800e+00, 4.93437062e+00,-3.96962654e+00,
  1.26762443e+02, 1.02564086e+02]

qfrc_actuator:
[ 1.97766347e-03, 2.92951754e-02, 8.86922117e-03, 1.66948696e-03,
  9.28812275e-06, 2.90244419e-02, 8.59895036e-03, 1.64960939e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002027236196152013
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73826757e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.73826757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00064811, -0.04683861,  0.06180708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68059561e-06,-8.72897717e-05,-3.51056759e-05,-3.15932009e-05,
 -8.13627183e-06,-5.09192430e-05,-2.82506628e-05, 1.26662293e-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,
  1.69546955e-03, 1.76763042e-04,-4.90504712e+00,-1.46434120e-04,
  3.08028841e-02, 7.19834712e-03]


--- Step 2167 ---
qpos:
[-2.07415254e-03, 8.64063216e-01,-2.38397049e-02, 3.24861797e-04,
 -2.86625420e-03, 8.60297080e-01,-2.70378021e-02, 3.07698855e-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,
  7.05384193e-03,-4.27490118e-02, 7.91908955e-02, 6.98054071e-01,
 -8.50925573e-02,-7.05302166e-01,-8.96025928e-02]

qacc:
[-5.49202440e-02, 6.68012045e-01,-3.82954963e+00, 5.78943564e+00,
 -2.81422030e-01,-3.73881922e-01,-2.46830719e-02, 2.88257255e+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,
  2.39208825e+00, 1.05746551e+00, 3.79027121e+00,-3.66470606e+00,
  1.16722537e+02, 9.45119785e+01]

qfrc_actuator:
[ 1.96459756e-03, 2.92505606e-02, 8.83812711e-03, 1.67047606e-03,
 -3.76179629e-05, 2.90158850e-02, 8.60730385e-03, 1.65850141e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002036262939360073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72612884e-14, -2.72612884e-14,  1.00000000e+00,  7.43177845e-28,
        1.00000000e+00,  2.72612884e-14, -1.00000000e+00,  0.00000000e+00,
        2.72612884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00064271, -0.04683692,  0.06180634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.98484337e-06,-1.03025401e-04,-5.48955187e-05,-4.64966718e-06,
 -5.07686113e-05,-4.31628444e-05,-5.48010357e-06, 5.92621731e-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,
  5.98154826e-04,-8.44248438e-05,-4.90502086e+00,-1.74625901e-04,
  3.08047211e-02, 7.19821026e-03]


--- Step 2168 ---
qpos:
[-2.08235886e-03, 8.64102929e-01,-2.38351370e-02, 3.24562586e-04,
 -2.86706966e-03, 8.60331040e-01,-2.70376707e-02, 3.07655217e-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,
  7.05713405e-03,-4.27389522e-02, 7.92157019e-02, 6.98093037e-01,
 -8.53376753e-02,-7.05259255e-01,-8.94034417e-02]

qacc:
[ 4.69928951e-02,-4.36355716e+00, 1.89748629e+01,-3.83087232e+01,
 -2.86474433e-01,-4.90226461e+00, 1.96433483e+01,-3.58195567e+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,
  2.22322510e+00, 9.85325791e-01, 2.82392615e+00,-3.38906850e+00,
  1.08405144e+02, 8.78490235e+01]

qfrc_actuator:
[ 1.97789126e-03, 2.92435589e-02, 8.87139877e-03, 1.61746882e-03,
 -6.53328574e-05, 2.89437766e-02, 8.63023802e-03, 1.61029534e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020239558224461746
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74270568e-14,  2.74270568e-14,  1.00000000e+00, -7.52243443e-28,
        1.00000000e+00, -2.74270568e-14, -1.00000000e+00,  0.00000000e+00,
        2.74270568e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00065248, -0.04683953,  0.06180754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.44152263e-06,-7.71258330e-05, 4.72449197e-06,-5.94784733e-05,
 -5.17842392e-05,-9.79604739e-05, 1.32773558e-05,-5.01818260e-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,
  8.40213027e-05,-9.65053796e-05,-4.90502166e+00,-1.72602990e-04,
  3.08073417e-02, 7.19689594e-03]


--- Step 2169 ---
qpos:
[-2.09022056e-03, 8.64142510e-01,-2.38310787e-02, 3.24663925e-04,
 -2.86849789e-03, 8.60363968e-01,-2.70379841e-02, 3.07598511e-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,
  7.06876596e-03,-4.27251862e-02, 7.92485432e-02, 6.98289247e-01,
 -8.56851488e-02,-7.05059856e-01,-8.91110639e-02]

qacc:
[ 1.80710574e-01, 2.07191582e+00,-9.33340537e+00, 1.71798811e+01,
 -3.23080434e-01,-3.88596624e-01,-3.99697128e-02,-7.52316713e-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,
  2.08494696e+00, 9.26613719e-01, 2.00871513e+00,-3.13820658e+00,
  1.01517112e+02, 8.23403261e+01]

qfrc_actuator:
[ 2.00684946e-03, 2.92593672e-02, 8.85376378e-03, 1.63970422e-03,
 -9.90615412e-05, 2.88519478e-02, 8.59028474e-03, 1.59984451e-03,
 -2.33743372e-03, 2.83259794e-02, 8.68612363e-03, 1.64282957e-03,
  0.00000000e+00,-1.34489294e-03, 0.00000000e+00,-7.97319738e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001994622334677759
  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([-0.00067426, -0.04684556,  0.06181027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28819982e-05,-2.98531098e-05,-3.53824613e-05, 1.78715111e-05,
 -5.82864246e-05,-1.46835225e-04,-6.05550779e-05,-1.52152154e-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,
  3.28790579e-05, 8.87105175e-05,-4.90504296e+00,-1.45486385e-04,
  3.08105293e-02, 7.19459388e-03]


--- Step 2170 ---
qpos:
[-2.09789200e-03, 8.64180977e-01,-2.38272107e-02, 3.26515360e-04,
 -2.86985944e-03, 8.60396146e-01,-2.70389578e-02, 3.07631193e-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,
  7.08828692e-03,-4.27079038e-02, 7.92866722e-02, 6.98633642e-01,
 -8.61292719e-02,-7.04712479e-01,-8.87305192e-02]

qacc:
[ 1.00270205e-01, 2.66367560e+00,-1.90191839e+01, 5.04314051e+01,
  3.50592928e-02, 2.69130032e+00,-1.48098573e+01, 3.18915407e+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,
  1.97226356e+00, 8.79097993e-01, 1.32190967e+00,-2.90784874e+00,
  9.58221429e+01, 7.77971007e+01]

qfrc_actuator:
[ 2.00940966e-03, 2.91465835e-02, 8.82411250e-03, 1.72377512e-03,
 -6.51019013e-05, 2.88375558e-02, 8.56670505e-03, 1.64713714e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019518723445493477
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84399497e-14, -5.68798993e-14,  1.00000000e+00,  1.61766147e-27,
        1.00000000e+00,  5.68798993e-14, -1.00000000e+00,  0.00000000e+00,
        2.84399497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00070548, -0.04685429,  0.06181422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81249657e-05,-1.36972088e-04,-3.98957396e-05, 8.18495367e-05,
  6.31323978e-06,-1.10450578e-04,-6.21500249e-05, 3.85622602e-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,
  3.57424456e-04, 4.33925771e-04,-4.90508139e+00,-9.70335898e-05,
  3.08140942e-02, 7.19144487e-03]


--- Step 2171 ---
qpos:
[-2.10561249e-03, 8.64217671e-01,-2.38235368e-02, 3.28064870e-04,
 -2.87078310e-03, 8.60427657e-01,-2.70397553e-02, 3.07713194e-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,
  7.11533177e-03,-4.26872576e-02, 7.93277775e-02, 6.99118611e-01,
 -8.66653112e-02,-7.04223985e-01,-8.82659097e-02]

qacc:
[-2.52698340e-02,-2.42265803e+00, 6.51190492e+00,-1.01245788e+01,
  2.31294956e-01,-3.59070477e-01,-2.08165914e+00, 1.08260224e+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,
  1.88097041e+00, 8.40924462e-01, 7.44092130e-01,-2.69402459e+00,
  9.11281180e+01, 7.40662639e+01]

qfrc_actuator:
[ 1.99614756e-03, 2.89931836e-02, 8.78713623e-03, 1.70141650e-03,
 -2.64688690e-05, 2.88342520e-02, 8.58884819e-03, 1.67484565e-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: -0.0018987248909428933
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9236016e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.9236016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074399, -0.04686515,  0.06181909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.73433398e-06,-2.35655643e-04,-6.76782414e-05,-2.80799399e-05,
  4.16122258e-05,-7.70127741e-05,-7.23902127e-06, 2.15282052e-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,
  9.94333128e-04, 9.12396048e-04,-4.90513568e+00,-2.99986393e-05,
  3.08178642e-02, 7.18755259e-03]


--- Step 2172 ---
qpos:
[-2.11377982e-03, 8.64252299e-01,-2.38196464e-02, 3.30380511e-04,
 -2.87162769e-03, 8.60458457e-01,-2.70404966e-02, 3.07725380e-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,
  7.14960669e-03,-4.26633693e-02, 7.93699175e-02, 6.99737759e-01,
 -8.72893552e-02,-7.03599848e-01,-8.77205254e-02]

qacc:
[-2.33710268e-01,-1.75592163e+00,-9.32857887e-01, 1.53620988e+01,
  4.19490881e-02,-2.53024685e+00, 1.06091687e+01,-2.22626873e+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,
  1.80751903e+00, 8.10547635e-01, 2.58664480e-01,-2.49309044e+00,
  8.72775970e+01, 7.10226514e+01]

qfrc_actuator:
[ 1.95580267e-03, 2.88875306e-02, 8.79910253e-03, 1.74082057e-03,
 -3.86875819e-05, 2.87845609e-02, 8.58459467e-03, 1.63758895e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018376983557488041
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02068895e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.02068895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078807, -0.04687763,  0.06182465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27065285e-05,-2.53496006e-04,-4.63281698e-05, 2.63578359e-05,
  7.49787700e-06,-9.40735321e-05,-2.05511969e-05,-4.04361355e-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,
  1.89792990e-03, 1.50512358e-03,-4.90520607e+00, 5.36111006e-05,
  3.08216772e-02, 7.18299250e-03]


--- Step 2173 ---
qpos:
[-2.12237718e-03, 8.64284441e-01,-2.38145825e-02, 3.33136328e-04,
 -2.87232213e-03, 8.60488493e-01,-2.70407185e-02, 3.07724805e-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,
  7.19087725e-03,-4.26363343e-02, 7.94114632e-02, 7.00485719e-01,
 -8.79981888e-02,-7.02844361e-01,-8.70969642e-02]

qacc:
[-2.24148711e-01,-5.65262455e+00, 1.35351742e+01,-5.97334998e+00,
  7.97679770e-02,-2.72278764e+00, 8.78109297e+00,-1.12607108e+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,
  1.74891039e+00, 7.86675834e-01,-1.48567661e-01,-2.30173072e+00,
  8.41406239e+01, 6.85631469e+01]

qfrc_actuator:
[ 1.93513077e-03, 2.87582695e-02, 8.85785420e-03, 1.76307708e-03,
 -2.79757912e-05, 2.87606044e-02, 8.61781062e-03, 1.63335770e-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,  3.54620456, -7.87471968,  3.54620456, 46.8207719 ,
       17.19549749, -7.87471968, 17.19549749, 16.37997281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001770886776782346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13465276e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.13465276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00083628, -0.04689136,  0.06183073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11116136e-05,-2.80295909e-04, 1.30135418e-06, 1.02469361e-05,
  1.42554737e-05,-8.32689612e-05, 9.61661424e-06,-9.80585773e-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,
  3.03564045e-03, 2.19884735e-03,-4.90529386e+00, 1.52349615e-04,
  3.08253753e-02, 7.17781868e-03]


--- Step 2174 ---
qpos:
[-2.13108552e-03, 8.64315271e-01,-2.38100493e-02, 3.34722016e-04,
 -2.87287571e-03, 8.60517315e-01,-2.70400790e-02, 3.07791484e-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,
  7.23445337e-03,-4.26221469e-02, 7.94516737e-02, 7.01314081e-01,
 -8.84420053e-02,-7.02008442e-01,-8.67220828e-02]

qacc:
[-5.82016450e-02,-2.65968527e+00, 1.19061809e+01,-3.03445296e+01,
  7.52972322e-02,-2.62196956e+00, 4.18659144e+00, 6.96364591e+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,
  5.76388762e-01,-3.21190494e+00,-3.33812166e-01, 5.46373485e+00,
  7.89083969e+01,-1.73190934e+02]

qfrc_actuator:
[ 1.94417722e-03, 2.87226050e-02, 8.83711763e-03, 1.70405403e-03,
 -2.13610261e-05, 2.86814179e-02, 8.65526996e-03, 1.66640309e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017266237015807206
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.21501154e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.21501154e-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([ 0.00676391, -0.02182251,  0.06183482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06340661e-05,-1.92488201e-04,-7.84015306e-05,-7.08444316e-05,
  1.33626933e-05,-1.24899578e-04, 2.08706630e-05, 2.95744843e-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,
  4.38468943e-03, 2.98458898e-03,-4.90540122e+00, 2.65197035e-04,
  3.08287998e-02, 7.17206898e-03]


--- Step 2175 ---
qpos:
[-2.13956753e-03, 8.64345339e-01,-2.38064735e-02, 3.36581109e-04,
 -2.87369272e-03, 8.60545162e-01,-2.70401377e-02, 3.07939556e-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,
  7.26076417e-03,-4.26120414e-02, 7.94774931e-02, 7.01817030e-01,
 -8.87248007e-02,-7.01494383e-01,-8.65239691e-02]

qacc:
[ 1.18508811e-01, 2.23033029e+00,-1.05671572e+01, 1.73918931e+01,
 -1.38959357e-01, 2.33586817e+00,-1.36359219e+01, 2.95592424e+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,
 -4.31633010e+00,-1.02047441e+00,-3.59776844e+00,-6.01692912e+00,
 -2.12285035e+02,-1.46847250e+02]

qfrc_actuator:
[ 1.97090765e-03, 2.87251671e-02, 8.80542822e-03, 1.72196589e-03,
 -5.27605212e-05, 2.86053521e-02, 8.60596239e-03, 1.70331271e-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: -0.0017620770963619956
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15032477e-14,  3.15032477e-14,  1.00000000e+00, -9.92454616e-28,
        1.00000000e+00, -3.15032477e-14, -1.00000000e+00,  0.00000000e+00,
        3.15032477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0553753 , -0.03493598,  0.06183191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15771948e-05,-1.25054961e-04,-8.38295776e-05, 5.51897915e-06,
 -2.50805265e-05,-1.41025437e-04,-7.17426206e-05, 3.28109515e-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,
  4.92919313e-03, 1.69308517e-03,-4.90528737e+00, 2.45154918e-04,
  3.08121328e-02, 7.17252854e-03]


--- Step 2176 ---
qpos:
[-2.14755440e-03, 8.64374850e-01,-2.38037899e-02, 3.38607165e-04,
 -2.87464103e-03, 8.60572240e-01,-2.70409216e-02, 3.08197331e-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,
  7.27132052e-03,-4.26057008e-02, 7.94868057e-02, 7.02024262e-01,
 -8.88622053e-02,-7.01274144e-01,-8.64871009e-02]

qacc:
[ 2.59586741e-01, 2.09732790e+00,-9.25523116e+00, 1.39850375e+01,
 -6.93512798e-02, 3.26371528e+00,-1.77468725e+01, 3.84633149e+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,
 -3.93861230e+00,-9.41212646e-01,-4.12669329e+00,-5.94503914e+00,
 -1.93382803e+02,-1.33405729e+02]

qfrc_actuator:
[ 2.00795554e-03, 2.87151335e-02, 8.76780596e-03, 1.73180533e-03,
 -5.33627142e-05, 2.85846639e-02, 8.57682032e-03, 1.75988311e-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([ 8.63636364, -7.56640598,  4.16368555, -7.56640598, 22.5188348 ,
       25.22774871,  4.16368555, 25.22774871, 54.48117741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018189420336070933
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57775593e-14, -3.05183729e-14,  1.00000000e+00,  1.39705662e-27,
        1.00000000e+00,  3.05183729e-14, -1.00000000e+00,  0.00000000e+00,
        4.57775593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05526617, -0.03496108,  0.06182709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72416923e-05,-9.77646908e-05,-7.38486800e-05, 1.63545822e-06,
 -1.25100877e-05,-1.13630272e-04,-6.61938720e-05, 4.86402908e-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,
  1.84267019e-03, 5.94739636e-04,-4.90513361e+00, 1.56200251e-04,
  3.08070675e-02, 7.17343856e-03]


--- Step 2177 ---
qpos:
[-2.15541506e-03, 8.64404272e-01,-2.38018837e-02, 3.40664713e-04,
 -2.87565052e-03, 8.60598248e-01,-2.70416684e-02, 3.08484777e-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,
  7.26740070e-03,-4.26028547e-02, 7.94777824e-02, 7.01960325e-01,
 -8.88671665e-02,-7.01323792e-01,-8.65983123e-02]

qacc:
[ 6.58009174e-02, 2.11919049e+00,-7.85905816e+00, 9.71446561e+00,
 -3.18375088e-02,-9.04161716e-01,-7.71232451e-02, 5.93757808e+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,
 -3.61904060e+00,-8.73643790e-01,-4.58399267e+00,-5.81040460e+00,
 -1.77508777e+02,-1.22134961e+02]

qfrc_actuator:
[ 1.99757668e-03, 2.87509021e-02, 8.74469454e-03, 1.73679840e-03,
 -5.32659308e-05, 2.85263768e-02, 8.57783631e-03, 1.77438339e-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([ 8.63636364, -7.48995531,  4.29969142, -7.48995531, 25.6528309 ,
       29.6422619 ,  4.29969142, 29.6422619 , 60.27244515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00184377999004319
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50536267e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.50536267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0552187 , -0.03497363,  0.06182497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20409962e-05,-3.47852245e-05,-5.25958600e-05,-1.77054921e-06,
 -5.84846790e-06,-1.34062272e-04,-2.91364261e-05, 8.24432472e-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,
  3.35871535e-04, 8.24144638e-05,-4.90503509e+00, 1.11509078e-04,
  3.08002810e-02, 7.17734667e-03]


--- Step 2178 ---
qpos:
[-2.16343531e-03, 8.64433262e-01,-2.37993622e-02, 3.42365886e-04,
 -2.87687047e-03, 8.60623145e-01,-2.70423288e-02, 3.08718456e-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,
  7.25009685e-03,-4.26032702e-02, 7.94488392e-02, 7.01645535e-01,
 -8.87504184e-02,-7.01622839e-01,-8.68464031e-02]

qacc:
[-8.32616132e-02,-3.02191334e+00, 1.14520068e+01,-1.82887485e+01,
 -1.10540321e-01,-2.81517801e+00, 1.01765714e+01,-1.88054563e+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,
 -3.34601028e+00,-8.15405272e-01,-4.97994849e+00,-5.62838632e+00,
 -1.64147003e+02,-1.12664227e+02]

qfrc_actuator:
[ 1.97666527e-03, 2.87428945e-02, 8.78378956e-03, 1.72119969e-03,
 -7.05199870e-05, 2.84638897e-02, 8.57872234e-03, 1.74625048e-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([ 8.63636364, -7.54601713,  4.20052406, -7.54601713, 28.44119584,
       35.57832333,  4.20052406, 35.57832333, 72.55092137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018424641169258599
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50643778e-14, -3.01287557e-14,  1.00000000e+00,  4.53870959e-28,
        1.00000000e+00,  3.01287557e-14, -1.00000000e+00,  0.00000000e+00,
        1.50643778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05522029, -0.03497623,  0.06182502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52442272e-05,-3.90972639e-05, 2.51255527e-05,-1.89934086e-05,
 -2.00433923e-05,-1.43738899e-04,-3.03107772e-05,-3.47667881e-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,
  4.65772024e-05, 1.88035861e-05,-4.90498392e+00, 9.92454455e-05,
  3.07921504e-02, 7.18385180e-03]


--- Step 2179 ---
qpos:
[-2.17144308e-03, 8.64461746e-01,-2.37957847e-02, 3.43843982e-04,
 -2.87829266e-03, 8.60646946e-01,-2.70421490e-02, 3.08911053e-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,
  7.22035209e-03,-4.26067444e-02, 7.93986022e-02, 7.01096700e-01,
 -8.85208570e-02,-7.02153707e-01,-8.72218237e-02]

qacc:
[ 7.39033161e-03,-4.07702105e+00, 1.45091219e+01,-1.96904249e+01,
 -1.05728561e-01,-4.63688883e+00, 1.61701128e+01,-2.38243562e+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,
 -3.11022618e+00,-7.64646586e-01,-5.32347943e+00,-5.41070298e+00,
 -1.52884593e+02,-1.04696500e+02]

qfrc_actuator:
[ 1.98517491e-03, 2.87267531e-02, 8.84137411e-03, 1.71137382e-03,
 -8.02581706e-05, 2.84348588e-02, 8.63272430e-03, 1.72875863e-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: -0.0018199424344224752
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05015973e-14, -9.15047919e-14,  1.00000000e+00,  2.79104231e-27,
        1.00000000e+00,  9.15047919e-14, -1.00000000e+00,  0.00000000e+00,
        3.05015973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05526087, -0.03497094,  0.06182679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18331632e-06,-3.43249410e-05, 5.17034971e-05,-1.10498694e-05,
 -1.92585755e-05,-1.17753522e-04, 1.91824585e-05,-2.54155305e-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,
  7.09919195e-04, 3.03756873e-04,-4.90496920e+00, 1.10865436e-04,
  3.07829515e-02, 7.19258901e-03]


--- Step 2180 ---
qpos:
[-2.17917276e-03, 8.64490335e-01,-2.37920992e-02, 3.46214186e-04,
 -2.87967848e-03, 8.60670616e-01,-2.70420497e-02, 3.09109450e-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,
  7.17899065e-03,-4.26130981e-02, 7.93258759e-02, 7.00327696e-01,
 -8.81858415e-02,-7.02901277e-01,-8.77164169e-02]

qacc:
[ 1.46057448e-01, 1.67366802e+00,-9.53132079e+00, 2.47212686e+01,
  1.91718728e-02, 1.71860672e-01,-1.10805082e+00, 2.33698345e+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,
 -2.90416986e+00,-7.19895509e-01,-5.62229302e+00,-5.16613191e+00,
 -1.43387485e+02,-9.79913898e+01]

qfrc_actuator:
[ 2.01122894e-03, 2.87592368e-02, 8.85610754e-03, 1.75827880e-03,
 -6.76582264e-05, 2.84795878e-02, 8.64679669e-03, 1.73549225e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017803884782150586
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11792353e-14,  3.11792353e-14,  1.00000000e+00, -9.72144712e-28,
        1.00000000e+00, -3.11792353e-14, -1.00000000e+00,  0.00000000e+00,
        3.11792353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05533228, -0.03495945,  0.06182991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65509354e-05, 2.28041675e-05, 1.33831487e-05, 4.69591647e-05,
  3.45389248e-06,-1.88206897e-05,-8.95605324e-06, 1.81919421e-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,
  2.13167725e-03, 8.64024604e-04,-4.90497891e+00, 1.40195760e-04,
  3.07728722e-02, 7.20323025e-03]


--- Step 2181 ---
qpos:
[-2.18620427e-03, 8.64518968e-01,-2.37895969e-02, 3.48879626e-04,
 -2.88096203e-03, 8.60694415e-01,-2.70421991e-02, 3.09242927e-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,
  7.14067467e-03,-4.26373358e-02, 7.92621532e-02, 6.99659489e-01,
 -8.75258100e-02,-7.03549112e-01,-8.85125908e-02]

qacc:
[ 3.65742899e-01, 3.96928543e+00,-1.53170063e+01, 2.22909732e+01,
  5.36793365e-02,-4.71790757e-01, 4.66917334e+00,-1.56020360e+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,
  7.61363292e-01,-4.47098523e+00, 2.25088209e+00, 7.88834372e+00,
  9.79010510e+01,-2.11011460e+02]

qfrc_actuator:
[ 2.06529164e-03, 2.87139702e-02, 8.77464544e-03, 1.76718581e-03,
 -5.95657510e-05, 2.84970354e-02, 8.63749612e-03, 1.70319877e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017996554524120634
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08454328e-14, -6.16908655e-14,  1.00000000e+00,  1.90288144e-27,
        1.00000000e+00,  6.16908655e-14, -1.00000000e+00,  0.00000000e+00,
        3.08454328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00680897, -0.02186953,  0.06182775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66465629e-05,-2.84322748e-05,-7.37304488e-05, 1.12092374e-05,
  9.72793828e-06, 4.58062562e-06,-1.44198603e-05,-3.34137282e-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,
  4.16939193e-03, 1.64601271e-03,-4.90500078e+00, 1.82785387e-04,
  3.07620248e-02, 7.21548194e-03]


--- Step 2182 ---
qpos:
[-2.19291082e-03, 8.64546950e-01,-2.37877690e-02, 3.51341351e-04,
 -2.88232776e-03, 8.60717638e-01,-2.70421546e-02, 3.09308102e-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,
  7.11473300e-03,-4.26574641e-02, 7.92266047e-02, 6.99214847e-01,
 -8.70191863e-02,-7.03972263e-01,-8.91589134e-02]

qacc:
[ 1.70368612e-01, 6.03825873e-01,-2.54207601e+00, 5.74835393e-01,
 -4.30385782e-02,-2.70601860e+00, 1.14295569e+01,-2.31402023e+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,
  3.09358100e+00, 1.02733925e+00, 7.04353458e+00,-1.11258388e+00,
  1.43898914e+02, 1.26114523e+02]

qfrc_actuator:
[ 2.06461770e-03, 2.86398253e-02, 8.72547720e-03, 1.75353407e-03,
 -7.20108435e-05, 2.84268967e-02, 8.63212472e-03, 1.66592567e-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: -0.001883496161438361
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94723994e-14, -2.94723994e-14,  1.00000000e+00,  8.68622329e-28,
        1.00000000e+00,  2.94723994e-14, -1.00000000e+00,  0.00000000e+00,
        2.94723994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007645 , -0.04681614,  0.06182001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10007311e-05,-1.05473110e-04,-6.39809796e-05,-1.72546865e-05,
 -7.83108954e-06,-7.25571985e-05,-7.54853075e-06,-3.82647377e-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,
  3.52152429e-03, 3.02781017e-03,-4.90492419e+00, 1.70268242e-04,
  3.07510000e-02, 7.20770014e-03]


--- Step 2183 ---
qpos:
[-2.19944150e-03, 8.64574230e-01,-2.37848930e-02, 3.53851719e-04,
 -2.88380449e-03, 8.60739576e-01,-2.70420805e-02, 3.09338494e-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,
  7.09999952e-03,-4.26737212e-02, 7.92133863e-02, 6.98974402e-01,
 -8.66512307e-02,-7.04191306e-01,-8.96713682e-02]

qacc:
[ 9.32227383e-02,-3.75368666e+00, 1.18339151e+01,-1.21555957e+01,
 -5.80623935e-02,-2.49494649e+00, 7.90186064e+00,-1.30272831e+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,
  2.80204509e+00, 9.67797618e-01, 5.58254924e+00,-1.57425901e+00,
  1.31225584e+02, 1.13594099e+02]

qfrc_actuator:
[ 2.06670098e-03, 2.86555465e-02, 8.80216547e-03, 1.76223319e-03,
 -7.88822949e-05, 2.83048591e-02, 8.61101518e-03, 1.64371091e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001938961832661984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86293161e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.86293161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072675, -0.046798  ,  0.06181497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67751563e-05,-5.78762295e-05, 4.61912272e-05, 1.58217007e-06,
 -1.05931973e-05,-1.66367276e-04,-3.85345832e-05,-2.63655226e-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,
  1.61567729e-03, 1.64917437e-03,-4.90487178e+00, 2.52490197e-05,
  3.07624994e-02, 7.20315475e-03]


--- Step 2184 ---
qpos:
[-2.20547791e-03, 8.64601165e-01,-2.37812310e-02, 3.55725096e-04,
 -2.88537039e-03, 8.60760570e-01,-2.70424038e-02, 3.09409734e-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,
  7.09551414e-03,-4.26863140e-02, 7.92175517e-02, 6.98921915e-01,
 -8.64097621e-02,-7.04223101e-01,-9.00629411e-02]

qacc:
[ 2.60024994e-01,-3.96070452e+00, 1.61521148e+01,-2.81834046e+01,
 -4.68965156e-02, 7.02753431e-01,-6.04147400e+00, 1.44421879e+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,
  2.56202603e+00, 9.16069300e-01, 4.34593782e+00,-1.89559913e+00,
  1.20711804e+02, 1.03322114e+02]

qfrc_actuator:
[ 2.10596297e-03, 2.86544888e-02, 8.84639928e-03, 1.73091407e-03,
 -8.23478709e-05, 2.82768902e-02, 8.59830198e-03, 1.66597446e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001964850943400799
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82520928e-14, -2.82520928e-14,  1.00000000e+00,  7.98180749e-28,
        1.00000000e+00,  2.82520928e-14, -1.00000000e+00,  0.00000000e+00,
        2.82520928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007102 , -0.04678746,  0.06181265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71844331e-05,-2.44725866e-05, 3.77896973e-05,-3.22177999e-05,
 -8.50863960e-06,-1.30613885e-04,-5.29078523e-05, 1.32557750e-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,
  5.27366962e-04, 7.25716207e-04,-4.90485798e+00,-7.39321090e-05,
  3.07723679e-02, 7.19853653e-03]


--- Step 2185 ---
qpos:
[-2.21138244e-03, 8.64627807e-01,-2.37778262e-02, 3.56238011e-04,
 -2.88662024e-03, 8.60781635e-01,-2.70431210e-02, 3.09493753e-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,
  7.10048856e-03,-4.26954211e-02, 7.92349183e-02, 6.99043752e-01,
 -8.62846902e-02,-7.04081465e-01,-9.03442053e-02]

qacc:
[ 6.90868210e-02,-2.46958640e+00, 1.39852174e+01,-3.69037979e+01,
  1.66337527e-01, 1.45611816e+00,-5.59595619e+00, 8.38717096e+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,
  2.36494761e+00, 8.71445571e-01, 3.30031887e+00,-2.11331196e+00,
  1.11980969e+02, 9.48762815e+01]

qfrc_actuator:
[ 2.09613289e-03, 2.86077814e-02, 8.81774522e-03, 1.65849755e-03,
 -4.82420994e-05, 2.83587937e-02, 8.60879449e-03, 1.67880254e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019667640508545386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82246115e-14, -5.64492230e-14,  1.00000000e+00,  1.59325739e-27,
        1.00000000e+00,  5.64492230e-14, -1.00000000e+00,  0.00000000e+00,
        2.82246115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00071065, -0.04678294,  0.06181254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25806208e-05,-5.46211195e-05,-3.04074598e-05,-7.28332409e-05,
  3.00551419e-05,-1.99469763e-06,-2.27077075e-05, 5.62706355e-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,
  7.04086049e-05, 1.49378262e-04,-4.90487091e+00,-1.36544891e-04,
  3.07811992e-02, 7.19365929e-03]


--- Step 2186 ---
qpos:
[-2.21782030e-03, 8.64653702e-01,-2.37748608e-02, 3.55951104e-04,
 -2.88750187e-03, 8.60802985e-01,-2.70439217e-02, 3.09587281e-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,
  7.11427765e-03,-4.27011951e-02, 7.92619538e-02, 6.99328449e-01,
 -8.62676436e-02,-7.03777706e-01,-9.05237764e-02]

qacc:
[-2.79978421e-01,-1.40502802e+00, 6.95454236e+00,-1.95457444e+01,
  1.93963570e-01, 8.04438422e-01,-2.72501954e+00, 4.29660811e+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,
  2.20367036e+00, 8.33263335e-01, 2.41720369e+00,-2.25439248e+00,
  1.04732466e+02, 8.79244131e+01]

qfrc_actuator:
[ 2.03925964e-03, 2.85337712e-02, 8.78159253e-03, 1.61565874e-03,
 -2.74683194e-05, 2.83994670e-02, 8.61561317e-03, 1.68608664e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019494053226360997
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84759411e-14, -5.69518823e-14,  1.00000000e+00,  1.62175845e-27,
        1.00000000e+00,  5.69518823e-14, -1.00000000e+00,  0.00000000e+00,
        2.84759411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072465, -0.04678315,  0.06181418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09445326e-05,-1.14600402e-04,-5.39336046e-05,-4.76945175e-05,
  3.50263772e-05, 3.46121111e-05, 3.64041546e-06, 6.48937741e-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,
  1.10308133e-04,-1.57480045e-04,-4.90490380e+00,-1.69355400e-04,
  3.07893595e-02, 7.18841431e-03]


--- Step 2187 ---
qpos:
[-2.22483979e-03, 8.64678687e-01,-2.37722875e-02, 3.55171085e-04,
 -2.88826306e-03, 8.60824452e-01,-2.70445752e-02, 3.09654692e-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,
  7.13635568e-03,-4.27037655e-02, 7.92956783e-02, 6.99766368e-01,
 -8.63516727e-02,-7.03321041e-01,-9.06086709e-02]

qacc:
[-3.05220505e-01,-1.12294605e+00, 4.33901905e+00,-1.15769879e+01,
  6.35239683e-02,-7.93289258e-01, 4.15667480e+00,-8.99957813e+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,
  2.07223307e+00, 8.00891481e-01, 1.67226493e+00,-2.33867724e+00,
  9.87240141e+01, 8.22029517e+01]

qfrc_actuator:
[ 2.00803083e-03, 2.84794549e-02, 8.75897840e-03, 1.59055012e-03,
 -3.26249670e-05, 2.83974078e-02, 8.62007485e-03, 1.67227329e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019167211691578923
  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([-0.00074937, -0.04678707,  0.0618172 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55622172e-05,-1.32211675e-04,-5.47992287e-05,-3.28545293e-05,
  1.14578944e-05, 1.78221228e-05, 1.21180814e-05,-1.21116857e-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,
  5.49704612e-04,-2.50927336e-04,-4.90495322e+00,-1.77327318e-04,
  3.07970655e-02, 7.18273777e-03]


--- Step 2188 ---
qpos:
[-2.23155630e-03, 8.64702599e-01,-2.37699638e-02, 3.54106426e-04,
 -2.88937045e-03, 8.60845626e-01,-2.70449283e-02, 3.09640186e-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,
  7.16629629e-03,-4.27032410e-02, 7.93335817e-02, 7.00349404e-01,
 -8.65310096e-02,-7.02718938e-01,-9.06045893e-02]

qacc:
[ 1.59219489e-01,-1.30416536e+00, 3.79713846e+00,-7.53692544e+00,
 -1.82241238e-01,-2.91061068e+00, 1.32759073e+01,-2.77218471e+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,
  1.96564704e+00, 7.73728374e-01, 1.04471653e+00,-2.38070032e+00,
  9.37585740e+01, 7.75010781e+01]

qfrc_actuator:
[ 2.06346085e-03, 2.84196654e-02, 8.74461586e-03, 1.57609282e-03,
 -7.09920030e-05, 2.83520097e-02, 8.62292490e-03, 1.62836708e-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: -0.0018720166943223399
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96531283e-14,  2.96531283e-14,  1.00000000e+00, -8.79308018e-28,
        1.00000000e+00, -2.96531283e-14, -1.00000000e+00,  0.00000000e+00,
        2.96531283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007825 , -0.04679388,  0.0618213 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88963230e-05,-1.47049679e-04,-4.97664788e-05,-2.26958323e-05,
 -3.29310785e-05,-3.39577340e-05, 7.43821616e-06,-4.29920993e-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,
  1.31819370e-03,-1.71560387e-04,-4.90501797e+00,-1.64111092e-04,
  3.08044338e-02, 7.17659099e-03]


--- Step 2189 ---
qpos:
[-2.23794060e-03, 8.64726134e-01,-2.37685310e-02, 3.54212074e-04,
 -2.89069050e-03, 8.60866434e-01,-2.70454514e-02, 3.09577436e-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,
  7.19393514e-03,-4.26893704e-02, 7.93668920e-02, 7.00847870e-01,
 -8.69536290e-02,-7.02204713e-01,-9.03319989e-02]

qacc:
[ 1.73987486e-01, 4.39719162e+00,-2.13446410e+01, 4.33050286e+01,
 -1.12110742e-01,-1.00030782e+00, 4.90292331e+00,-1.27128873e+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,
 -5.75442493e-01, 3.33654047e+00,-1.14828914e+00, 9.47397458e+00,
 -8.31250784e+01, 1.71871358e+02]

qfrc_actuator:
[ 2.08147104e-03, 2.84458800e-02, 8.71746597e-03, 1.63902561e-03,
 -7.56089247e-05, 2.83164772e-02, 8.60684324e-03, 1.60257288e-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([ 8.63636364,  6.79837951, -5.32623815,  6.79837951, 32.99272501,
       31.08831851, -5.32623815, 31.08831851, 48.31731322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018280372711200477
  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([ 0.02121821, -0.06493623,  0.06182535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17052555e-05,-6.78309650e-05,-6.46373992e-05, 5.44316831e-05,
 -2.02379228e-05,-5.53351050e-05,-2.38310077e-05,-2.78594021e-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,
  2.36512805e-03, 5.12377588e-05,-4.90509836e+00,-1.32389480e-04,
  3.08115119e-02, 7.16994855e-03]


--- Step 2190 ---
qpos:
[-2.24458734e-03, 8.64750024e-01,-2.37678912e-02, 3.55312246e-04,
 -2.89138719e-03, 8.60887449e-01,-2.70462001e-02, 3.09546261e-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,
  7.20887267e-03,-4.26685447e-02, 7.93851534e-02, 7.01074826e-01,
 -8.74622792e-02,-7.01964323e-01,-8.99473543e-02]

qacc:
[-1.38309343e-01, 4.72982982e+00,-2.03831688e+01, 3.86056434e+01,
  3.28390904e-01, 1.55202182e+00,-6.47174125e+00, 1.21475007e+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,
 -3.17532901e+00, 1.73875845e+00,-3.76220207e+00, 9.75880969e+00,
 -2.00043950e+02, 4.53035541e+01]

qfrc_actuator:
[ 2.04137365e-03, 2.85234320e-02, 8.70113750e-03, 1.69379348e-03,
 -6.71292502e-06, 2.83758169e-02, 8.61525816e-03, 1.62314209e-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: -0.0018310633171046767
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03163472e-14, -3.78954340e-14,  1.00000000e+00,  1.14885113e-27,
        1.00000000e+00,  3.78954340e-14, -1.00000000e+00,  0.00000000e+00,
        3.03163472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04923494, -0.05885219,  0.06182529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50537251e-05, 2.80504577e-05,-3.66095813e-05, 5.06469638e-05,
  5.92919661e-05, 2.17860811e-05,-7.07351990e-06, 1.68018862e-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,
  1.94145864e-03, 9.68595226e-04,-4.90523045e+00,-6.48810552e-05,
  3.08256208e-02, 7.17572461e-03]


--- Step 2191 ---
qpos:
[-2.25139600e-03, 8.64773572e-01,-2.37671928e-02, 3.56398407e-04,
 -2.89172803e-03, 8.60908958e-01,-2.70468079e-02, 3.09602531e-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,
  7.21200325e-03,-4.26413531e-02, 7.93865874e-02, 7.01050509e-01,
 -8.80528895e-02,-7.01977209e-01,-8.94587696e-02]

qacc:
[-8.48183255e-02,-6.44381328e-01, 1.70053604e+00,-1.78554249e+00,
  1.87533526e-01, 2.05703876e+00,-1.00805065e+01, 2.46286349e+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,
 -2.95173557e+00, 1.59147958e+00,-4.20684828e+00, 8.15330329e+00,
 -1.85206507e+02, 4.28247083e+01]

qfrc_actuator:
[ 2.03788401e-03, 2.84714308e-02, 8.69156023e-03, 1.69011215e-03,
 -9.75937959e-07, 2.84383959e-02, 8.63849462e-03, 1.67092413e-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, -6.98761991,  5.07542558, -6.98761991, 21.02283448,
       17.05314147,  5.07542558, 17.05314147, 32.11436939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018290834159730984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51745816e-14, -2.27618725e-14,  1.00000000e+00,  3.45401892e-28,
        1.00000000e+00,  2.27618725e-14, -1.00000000e+00,  0.00000000e+00,
        1.51745816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04923824, -0.05886178,  0.06182557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54706600e-05,-4.22708674e-05,-6.73077130e-06,-2.79851516e-06,
  3.38594042e-05, 7.35298948e-05, 2.72846617e-05, 4.87661452e-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,
  5.48686296e-04, 7.38647087e-04,-4.90523011e+00,-6.97863288e-05,
  3.08248800e-02, 7.18551039e-03]


--- Step 2192 ---
qpos:
[-2.25808874e-03, 8.64796695e-01,-2.37667960e-02, 3.57122822e-04,
 -2.89223785e-03, 8.60930130e-01,-2.70459300e-02, 3.09716816e-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,
  7.20409211e-03,-4.26082902e-02, 7.93696615e-02, 7.00791635e-01,
 -8.87218977e-02,-7.02225810e-01,-8.88730586e-02]

qacc:
[ 6.07755674e-02,-4.63444758e-01, 2.36500652e+00,-7.83103801e+00,
 -8.79730796e-02,-3.39741246e+00, 9.02260523e+00,-1.11582370e+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,
 -2.76043320e+00, 1.46782943e+00,-4.58999037e+00, 6.82651271e+00,
 -1.72733824e+02, 4.06927336e+01]

qfrc_actuator:
[ 2.05636347e-03, 2.84310165e-02, 8.66774679e-03, 1.66972466e-03,
 -3.31161825e-05, 2.83960330e-02, 8.70585290e-03, 1.69884360e-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([ 8.63636364, -7.09796375,  4.91992758, -7.09796375, 21.57146361,
       18.66142728,  4.91992758, 18.66142728, 35.55914497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018070033792234041
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07200041e-14, -1.53600021e-14,  1.00000000e+00,  4.71859326e-28,
        1.00000000e+00,  1.53600021e-14, -1.00000000e+00,  0.00000000e+00,
        3.07200041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04927417, -0.05888442,  0.0618275 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10553065e-05,-6.61157775e-05,-3.36569452e-05,-2.25229396e-05,
 -1.60737354e-05, 5.96966992e-06, 8.74265151e-05, 3.29296429e-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,
  3.58396488e-05, 1.28226668e-04,-4.90525037e+00,-7.58476577e-05,
  3.08244311e-02, 7.19190299e-03]


--- Step 2193 ---
qpos:
[-2.26421153e-03, 8.64819285e-01,-2.37660924e-02, 3.57568725e-04,
 -2.89284063e-03, 8.60950813e-01,-2.70440311e-02, 3.09868883e-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,
  7.18580115e-03,-4.25697752e-02, 7.93330522e-02, 7.00311986e-01,
 -8.94662139e-02,-7.02695094e-01,-8.81959434e-02]

qacc:
[ 2.99464543e-01,-2.13364389e+00, 7.76177877e+00,-1.26819406e+01,
 -4.81543688e-02,-2.71839151e+00, 7.16185178e+00,-1.89962949e+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,
 -2.59495323e+00, 1.36301897e+00,-4.92085307e+00, 5.71813475e+00,
 -1.62244479e+02, 3.88691129e+01]

qfrc_actuator:
[ 2.10556396e-03, 2.84155260e-02, 8.68898617e-03, 1.65741945e-03,
 -3.43423797e-05, 2.83445957e-02, 8.74502533e-03, 1.71479006e-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([ 8.63636364, -7.36362321,  4.51263007, -7.36362321, 20.72752534,
       19.7301258 ,  4.51263007, 19.7301258 , 40.83160456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001768801680007398
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.92293494e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.92293494e-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([ 0.04933581, -0.05891738,  0.06183073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44107917e-05,-6.09156762e-05, 2.47688976e-06,-1.67767527e-05,
 -8.85050471e-06,-2.91510897e-05, 5.21403772e-05, 1.98339675e-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,
  2.27661440e-04,-7.90099610e-04,-4.90528841e+00,-8.15522711e-05,
  3.08244601e-02, 7.19593931e-03]


--- Step 2194 ---
qpos:
[-2.26973208e-03, 8.64841250e-01,-2.37651159e-02, 3.58222148e-04,
 -2.89330555e-03, 8.60971552e-01,-2.70426213e-02, 3.10007861e-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,
  7.17069512e-03,-4.25490707e-02, 7.93090408e-02, 6.99941379e-01,
 -8.98525468e-02,-7.03057432e-01,-8.78568923e-02]

qacc:
[ 3.16438919e-01,-1.16135152e+00, 2.06603206e+00, 1.54773556e+00,
  7.23254179e-02, 1.17012778e+00,-3.51246446e+00, 1.98939358e+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,
  7.96232940e-01,-4.45263213e+00, 3.14949340e+00, 6.73373967e+00,
  1.06668591e+02,-2.34559207e+02]

qfrc_actuator:
[ 2.13719139e-03, 2.83797629e-02, 8.70126437e-03, 1.66777770e-03,
 -1.70285762e-05, 2.83412592e-02, 8.71389874e-03, 1.70577033e-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: -0.0018167277366954865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05555698e-14,  3.05555698e-14,  1.00000000e+00, -9.33642848e-28,
        1.00000000e+00, -3.05555698e-14, -1.00000000e+00,  0.00000000e+00,
        3.05555698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068661 , -0.02186094,  0.0618263 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74921957e-05,-7.05570238e-05,-7.58503339e-07, 7.47195410e-06,
  1.31115422e-05,-8.53365446e-06,-3.02177644e-05,-8.11445671e-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,
  9.94750798e-04,-1.96308288e-03,-4.90533903e+00,-8.58802638e-05,
  3.08250360e-02, 7.19834792e-03]


--- Step 2195 ---
qpos:
[-2.27511993e-03, 8.64862486e-01,-2.37642771e-02, 3.60417382e-04,
 -2.89359471e-03, 8.60992079e-01,-2.70414531e-02, 3.10067660e-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,
  7.15853934e-03,-4.25445991e-02, 7.92932034e-02, 6.99670315e-01,
 -8.99125038e-02,-7.03323333e-01,-8.78264263e-02]

qacc:
[ 6.98896044e-02, 2.59505551e+00,-1.71584973e+01, 4.45990144e+01,
  9.25130534e-02,-1.23504118e+00, 7.33870272e+00,-2.05003940e+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,
  7.37561848e-01,-4.05820093e+00, 2.04347190e+00, 5.98123636e+00,
  9.69427751e+01,-2.14021006e+02]

qfrc_actuator:
[ 2.12250947e-03, 2.83321419e-02, 8.69032427e-03, 1.74461730e-03,
 -6.53704318e-06, 2.83131750e-02, 8.69495226e-03, 1.66437586e-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: -0.001867631694288538
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.97227507e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.97227507e-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([ 0.00688512, -0.02191266,  0.06182171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26508764e-05,-8.74241601e-05,-2.55254003e-05, 7.39004273e-05,
  1.67097477e-05,-3.99533192e-05,-2.48910202e-05,-4.30000643e-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,
  6.77068191e-04,-8.54618701e-04,-4.90512250e+00, 4.78569890e-05,
  3.08099406e-02, 7.19038732e-03]


--- Step 2196 ---
qpos:
[-2.28032974e-03, 8.64883286e-01,-2.37633629e-02, 3.62772371e-04,
 -2.89354746e-03, 8.61012082e-01,-2.70409479e-02, 3.10084360e-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,
  7.14913231e-03,-4.25550462e-02, 7.92817663e-02, 6.99490511e-01,
 -8.96723780e-02,-7.03501106e-01,-8.80799862e-02]

qacc:
[ 9.36317497e-02,-4.57566181e-01, 1.21056389e-01, 2.84351851e+00,
  1.77046799e-01, 2.72720698e-01,-1.57409631e-01,-5.85545666e+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,
  6.87188267e-01,-3.72969741e+00, 1.10011134e+00, 5.33119500e+00,
  8.88699630e+01,-1.96920326e+02]

qfrc_actuator:
[ 2.13352847e-03, 2.83310173e-02, 8.70125988e-03, 1.75341261e-03,
  1.75207186e-05, 2.82527361e-02, 8.64775684e-03, 1.63977506e-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: -0.0018891970607735967
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.87669253e-14, -5.87669253e-14,  1.00000000e+00,  3.45355150e-27,
        1.00000000e+00,  5.87669253e-14, -1.00000000e+00,  0.00000000e+00,
        5.87669253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00689398, -0.02193451,  0.06181974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69890487e-05,-5.26184674e-05,-7.88045144e-06, 5.56913404e-06,
  3.19793155e-05,-9.02627524e-05,-6.01752912e-05,-2.80451864e-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,
  4.42808837e-04,-1.32129104e-04,-4.90502329e+00, 1.07785322e-04,
  3.08026456e-02, 7.18618436e-03]


--- Step 2197 ---
qpos:
[-2.28536527e-03, 8.64903497e-01,-2.37616511e-02, 3.64146800e-04,
 -2.89319103e-03, 8.61030875e-01,-2.70407543e-02, 3.10147008e-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,
  7.14230093e-03,-4.25793152e-02, 7.92715102e-02, 6.99394717e-01,
 -8.91540774e-02,-7.03597283e-01,-8.85970867e-02]

qacc:
[ 9.21155396e-02,-5.02254111e+00, 2.09203802e+01,-3.87373502e+01,
  1.63213807e-01, 2.16735246e-01,-5.03382505e+00, 1.43752724e+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,
  6.43910953e-01,-3.45547046e+00, 2.95230172e-01, 4.76299832e+00,
  8.21549072e+01,-1.82662051e+02]

qfrc_actuator:
[ 2.14211697e-03, 2.83045318e-02, 8.74291566e-03, 1.70439406e-03,
  3.17346317e-05, 2.81555275e-02, 8.61963529e-03, 1.66071163e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018869146670547066
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94190046e-14, -2.94190046e-14,  1.00000000e+00,  8.65477830e-28,
        1.00000000e+00,  2.94190046e-14, -1.00000000e+00,  0.00000000e+00,
        2.94190046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00689473, -0.02193246,  0.06181987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66313699e-05,-5.77899678e-05, 2.98395295e-05,-5.14729643e-05,
  2.93722403e-05,-1.61790408e-04,-5.53115191e-05, 1.44091258e-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,
  2.73097336e-04, 2.91804121e-04,-4.90501162e+00, 1.06414096e-04,
  3.08011868e-02, 7.18501715e-03]


--- Step 2198 ---
qpos:
[-2.29005827e-03, 8.64922842e-01,-2.37593643e-02, 3.66355099e-04,
 -2.89260178e-03, 8.61048542e-01,-2.70406047e-02, 3.10162242e-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,
  7.14452878e-03,-4.26013310e-02, 7.92774498e-02, 6.99479689e-01,
 -8.87120763e-02,-7.03512122e-01,-8.90450784e-02]

qacc:
[ 1.80442672e-01,-1.03260625e+00,-1.49638919e+00, 1.56426274e+01,
  1.23050996e-01,-2.33977276e+00, 8.18555844e+00,-1.54953552e+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,
  2.26480844e+00, 5.63307389e-01, 4.04891972e+00,-2.34433702e+00,
  1.20545607e+02, 6.71003114e+01]

qfrc_actuator:
[ 2.16693234e-03, 2.82454040e-02, 8.76674585e-03, 1.74603202e-03,
  3.99348956e-05, 2.81081640e-02, 8.62062453e-03, 1.63724203e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018655186247974397
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61572996e-07, -1.61573030e-07,  1.00000000e+00, -2.61058384e-14,
        1.00000000e+00,  1.61573030e-07, -1.00000000e+00,  0.00000000e+00,
       -1.61572996e-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([-5.19016690e-05, -4.44102953e-02,  6.18216681e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26885383e-05,-8.79683569e-05, 1.36185238e-05, 3.91583078e-05,
  2.21127891e-05,-1.49088265e-04,-3.88929196e-05,-3.20647550e-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,
  1.54072954e-04, 4.81152283e-04,-4.90506680e+00, 5.30634223e-05,
  3.08040621e-02, 7.18633279e-03]


--- Step 2199 ---
qpos:
[-2.29441516e-03, 8.64941655e-01,-2.37576781e-02, 3.68393218e-04,
 -2.89185441e-03, 8.61065405e-01,-2.70406204e-02, 3.10145813e-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,
  7.15570280e-03,-4.26193425e-02, 7.92951092e-02, 6.99736458e-01,
 -8.83826948e-02,-7.03254438e-01,-8.93900672e-02]

qacc:
[ 1.76167327e-01, 6.23060232e-01,-2.52601558e+00, 9.34648481e-01,
  8.34963811e-02,-1.25046166e+00, 4.25561267e+00,-8.88157986e+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,
  2.23654126e+00, 1.00107690e+00, 2.92996367e+00,-3.21662090e+00,
  1.11186732e+02, 9.09403201e+01]

qfrc_actuator:
[ 2.18349325e-03, 2.82027083e-02, 8.72652628e-03, 1.73412589e-03,
  4.44796602e-05, 2.80911077e-02, 8.62118465e-03, 1.62338382e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00186470543312664
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97693943e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.97693943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007834 , -0.04678097,  0.06182178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20805475e-05,-8.78632133e-05,-5.55251664e-05,-1.44768602e-05,
  1.50162257e-05,-1.10251116e-04,-3.62742165e-05,-2.22429513e-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,
  6.96617660e-06,-1.13028568e-04,-4.90503938e+00,-2.07006641e-05,
  3.08023491e-02, 7.18808872e-03]


--- Step 2200 ---
qpos:
[-2.29830625e-03, 8.64959780e-01,-2.37561592e-02, 3.70262924e-04,
 -2.89119412e-03, 8.61081353e-01,-2.70404048e-02, 3.10215060e-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,
  7.17529513e-03,-4.26336078e-02, 7.93212220e-02, 7.00154049e-01,
 -8.81584240e-02,-7.02835145e-01,-8.96390484e-02]

qacc:
[ 2.44537385e-01,-7.88041552e-01, 2.20191925e+00,-4.34361140e+00,
 -4.53761283e-02,-9.21456457e-02,-5.04340013e+00, 2.01743050e+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,
  2.10457952e+00, 9.36555373e-01, 2.11333698e+00,-3.13220876e+00,
  1.04150301e+02, 8.48793679e+01]

qfrc_actuator:
[ 2.21272351e-03, 2.81698856e-02, 8.71983315e-03, 1.72626907e-03,
  2.90600662e-05, 2.80568578e-02, 8.63937882e-03, 1.66858249e-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: -0.001846160203394162
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01368734e-14, -6.01368734e-14,  1.00000000e+00,  3.61644354e-27,
        1.00000000e+00,  6.01368734e-14, -1.00000000e+00,  0.00000000e+00,
        6.01368734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079648, -0.04678453,  0.06182351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44637252e-05,-9.44924504e-05,-3.23430110e-05,-1.38582306e-05,
 -8.30952851e-06,-1.04746134e-04,-9.94842042e-06, 3.87615179e-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,
  3.03165795e-04,-5.23397352e-04,-4.90502374e+00,-6.69198622e-05,
  3.08002686e-02, 7.18876559e-03]


--- Step 2201 ---
qpos:
[-2.30159311e-03, 8.64977802e-01,-2.37547700e-02, 3.72289704e-04,
 -2.89067485e-03, 8.61097240e-01,-2.70406717e-02, 3.10400770e-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,
  7.20287415e-03,-4.26443395e-02, 7.93530326e-02, 7.00723249e-01,
 -8.80330082e-02,-7.02263113e-01,-8.97977576e-02]

qacc:
[ 3.17000727e-01, 5.49498677e-01,-2.81972140e+00, 5.82182637e+00,
 -7.45373341e-02, 3.66251182e+00,-1.80938612e+01, 3.90706255e+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,
  1.99667161e+00, 8.83383720e-01, 1.42446182e+00,-3.04653142e+00,
  9.83382004e+01, 7.98691251e+01]

qfrc_actuator:
[ 2.24929126e-03, 2.82143651e-02, 8.73306270e-03, 1.73866078e-03,
  1.95964488e-05, 2.81014887e-02, 8.63231761e-03, 1.73041590e-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: -0.001813544102330096
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06092094e-14,  3.06092094e-14,  1.00000000e+00, -9.36923702e-28,
        1.00000000e+00, -3.06092094e-14, -1.00000000e+00,  0.00000000e+00,
        3.06092094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00081982, -0.04679094,  0.06182652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77017540e-05,-1.60643695e-05,-1.09055102e-05, 6.92200454e-06,
 -1.34185861e-05,-1.47210292e-05,-2.87073579e-05, 5.77308340e-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,
  9.73810822e-04,-7.27117678e-04,-4.90503186e+00,-8.93685632e-05,
  3.07986492e-02, 7.18845828e-03]


--- Step 2202 ---
qpos:
[-2.30472463e-03, 8.64995895e-01,-2.37533555e-02, 3.74068507e-04,
 -2.89047016e-03, 8.61113237e-01,-2.70411229e-02, 3.10585619e-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,
  7.21658600e-03,-4.26481346e-02, 7.93716204e-02, 7.01000480e-01,
 -8.80131829e-02,-7.01984038e-01,-8.98355023e-02]

qacc:
[ 8.14883049e-02,-4.87735396e-01, 2.92104090e+00,-7.30506300e+00,
 -1.65937541e-01, 6.41459033e-01,-2.04087771e+00, 2.10654276e+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,
 -3.46679272e+00, 1.73415225e+00,-3.30570398e+00, 5.78152401e+00,
 -2.15225367e+02, 5.34535404e+01]

qfrc_actuator:
[ 2.23667886e-03, 2.82339055e-02, 8.74052254e-03, 1.72743821e-03,
 -3.95744916e-06, 2.81219486e-02, 8.62847720e-03, 1.73056907e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018056201053418958
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.84294231e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.84294231e-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([ 0.04927175, -0.0588987 ,  0.06182739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48386483e-05, 8.17326652e-06, 2.88400163e-06,-1.21863424e-05,
 -2.99214012e-05, 8.38934374e-06,-8.54620082e-06,-3.73826743e-07,
 -9.16201063e-06, 1.50019172e-05, 9.17348973e-05, 1.28379371e-05,
  3.36505850e-03,-2.63652960e-05, 1.11192731e-05, 5.90660697e-05,
  1.95547093e-03,-7.60462473e-04,-4.90506158e+00,-9.13160246e-05,
  3.07973711e-02, 7.18725421e-03]


--- Step 2203 ---
qpos:
[-2.30822112e-03, 8.65013064e-01,-2.37514747e-02, 3.76832312e-04,
 -2.89056195e-03, 8.61128630e-01,-2.70410170e-02, 3.10738695e-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,
  7.21751501e-03,-4.26455583e-02, 7.93749497e-02, 7.01009423e-01,
 -8.80909842e-02,-7.01974760e-01,-8.97619282e-02]

qacc:
[-1.90823027e-01,-4.95510440e-01,-4.16216801e+00, 2.11411962e+01,
 -1.55695842e-01,-3.00574158e+00, 1.09026201e+01,-1.68522563e+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,
 -3.19570916e+00, 1.59286138e+00,-3.81463320e+00, 5.16610885e+00,
 -1.98014839e+02, 4.93596659e+01]

qfrc_actuator:
[ 2.19476555e-03, 2.81318345e-02, 8.74441750e-03, 1.77339983e-03,
 -1.79829239e-05, 2.80567496e-02, 8.64421661e-03, 1.71217411e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018252177397668837
  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([ 0.04924043, -0.05888629,  0.06182579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48810207e-05,-9.78624234e-05, 5.36264207e-06, 4.61422713e-05,
 -2.82179594e-05,-6.26754231e-05, 1.62802929e-05,-1.83647902e-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,
  4.80967623e-04,-1.12722632e-04,-4.90501575e+00,-7.63956085e-05,
  3.07973687e-02, 7.18912068e-03]


--- Step 2204 ---
qpos:
[-2.31232393e-03, 8.65028690e-01,-2.37494159e-02, 3.79881143e-04,
 -2.89088050e-03, 8.61143204e-01,-2.70405531e-02, 3.10872753e-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,
  7.20658241e-03,-4.26370877e-02, 7.93612669e-02, 7.00769654e-01,
 -8.82596685e-02,-7.02215514e-01,-8.95851272e-02]

qacc:
[-3.17456439e-01,-1.94681505e+00, 2.78310367e+00, 2.99621549e+00,
 -1.18998665e-01,-2.47198053e+00, 8.04790904e+00,-1.13127036e+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,
 -2.96540435e+00, 1.47355935e+00,-4.25301930e+00, 4.64350663e+00,
 -1.83557217e+02, 4.59051223e+01]

qfrc_actuator:
[ 2.15348251e-03, 2.79932686e-02, 8.72796973e-03, 1.78152765e-03,
 -2.61836042e-05, 2.79940827e-02, 8.65328366e-03, 1.70071547e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018205551293366679
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04913322e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04913322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04924874, -0.05889144,  0.06182623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.79526567e-05,-1.90628348e-04,-3.45526223e-05, 4.98740188e-06,
 -2.15941353e-05,-9.55135192e-05,-2.63175001e-06,-1.39631192e-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,
  2.08681167e-06, 8.02963805e-06,-4.90500244e+00,-6.98568376e-05,
  3.07975442e-02, 7.18967358e-03]


--- Step 2205 ---
qpos:
[-2.31676870e-03, 8.65043679e-01,-2.37480998e-02, 3.81570763e-04,
 -2.89154225e-03, 8.61157219e-01,-2.70403353e-02, 3.10992887e-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,
  7.18457855e-03,-4.26231296e-02, 7.93290589e-02, 7.00297344e-01,
 -8.85135258e-02,-7.02689385e-01,-8.93118939e-02]

qacc:
[-1.79729100e-01,-1.56571651e+00, 1.00969222e+01,-3.19635587e+01,
 -1.80822094e-01,-3.36220998e-01, 7.16553754e-01,-2.32258835e+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,
 -2.76781257e+00, 1.37187564e+00,-4.63129102e+00, 4.19463866e+00,
 -1.71398884e+02, 4.29897856e+01]

qfrc_actuator:
[ 2.14847024e-03, 2.79935669e-02, 8.69941808e-03, 1.71400327e-03,
 -4.85931587e-05, 2.79688973e-02, 8.64057088e-03, 1.69341816e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001796266106733009
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54518173e-14,  7.72590863e-15,  1.00000000e+00, -1.19379328e-28,
        1.00000000e+00, -7.72590863e-15, -1.00000000e+00,  0.00000000e+00,
        1.54518173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04928849, -0.05891053,  0.06182827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26825228e-05,-1.13610523e-04,-7.21465862e-05,-7.68191411e-05,
 -3.26648985e-05,-8.00937272e-05,-3.33674425e-05,-1.17765097e-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,
  3.08860560e-04,-2.87688346e-04,-4.90501620e+00,-6.83341318e-05,
  3.07980274e-02, 7.18923399e-03]


--- Step 2206 ---
qpos:
[-2.32138768e-03, 8.65058707e-01,-2.37472881e-02, 3.82332442e-04,
 -2.89268986e-03, 8.61170918e-01,-2.70407230e-02, 3.11171739e-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,
  7.17295784e-03,-4.26042835e-02, 7.93151789e-02, 7.00018863e-01,
 -8.88924064e-02,-7.02967861e-01,-8.89264772e-02]

qacc:
[-9.17855781e-02,-4.48961890e-01, 5.59318291e+00,-2.08744948e+01,
 -2.56279140e-01, 2.48014411e+00,-1.19299121e+01, 2.32959483e+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,
  2.59578444e+00, 1.22201274e+00, 4.58199486e+00,-4.50895952e+00,
  1.25970232e+02, 1.00510286e+02]

qfrc_actuator:
[ 2.14744596e-03, 2.80591436e-02, 8.69995890e-03, 1.67362832e-03,
 -7.93209100e-05, 2.79662674e-02, 8.61525116e-03, 1.72414804e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017966512537335444
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17940194e-14,  3.08970097e-14,  1.00000000e+00, -1.90925042e-27,
        1.00000000e+00, -3.08970097e-14, -1.00000000e+00,  0.00000000e+00,
        6.17940194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00083191, -0.04679931,  0.06182803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66411440e-05,-1.65070831e-05,-3.45977025e-05,-4.92602327e-05,
 -4.62327889e-05,-5.51556997e-05,-4.64943239e-05, 2.58915838e-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,
  1.24705292e-03,-9.18604978e-04,-4.90504951e+00,-6.94421410e-05,
  3.07988556e-02, 7.18802796e-03]


--- Step 2207 ---
qpos:
[-2.32607608e-03, 8.65074012e-01,-2.37469778e-02, 3.82225482e-04,
 -2.89425386e-03, 8.61184167e-01,-2.70413984e-02, 3.11385464e-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,
  7.17093329e-03,-4.25809415e-02, 7.93153389e-02, 6.99919503e-01,
 -8.93874765e-02,-7.03065832e-01,-8.84364410e-02]

qacc:
[-3.68767976e-02,-2.16034220e-02, 4.27423649e+00,-1.87081900e+01,
 -2.19422490e-01, 9.25792849e-01,-5.63743123e+00, 1.24652742e+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,
  2.39904377e+00, 1.12396654e+00, 3.50998936e+00,-3.95993042e+00,
  1.16320401e+02, 9.34435723e+01]

qfrc_actuator:
[ 2.14878351e-03, 2.80924545e-02, 8.68250874e-03, 1.63190281e-03,
 -9.70069969e-05, 2.79416469e-02, 8.60057765e-03, 1.74151826e-03,
 -2.28395199e-03, 2.79085586e-02, 8.77470791e-03, 1.57775843e-03,
  0.00000000e+00,-1.37983535e-03, 0.00000000e+00,-8.73263988e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018112312090345778
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12965931e-14, -6.12965931e-14,  1.00000000e+00,  3.75727233e-27,
        1.00000000e+00,  6.12965931e-14, -1.00000000e+00,  0.00000000e+00,
        6.12965931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0008215 , -0.04679802,  0.06182668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.62444706e-06, 1.44678736e-05,-2.69488914e-05,-4.46132419e-05,
 -3.96251504e-05,-6.42890813e-05,-3.10047714e-05, 1.38798016e-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,
  3.49520950e-04,-6.34731488e-04,-4.90504410e+00,-3.54154620e-05,
  3.08011201e-02, 7.18787623e-03]


--- Step 2208 ---
qpos:
[-2.33095540e-03, 8.65089968e-01,-2.37471552e-02, 3.81914066e-04,
 -2.89611782e-03, 8.61197355e-01,-2.70427200e-02, 3.11615746e-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,
  7.17190475e-03,-4.25724970e-02, 7.93204899e-02, 6.99911490e-01,
 -8.95757338e-02,-7.03074583e-01,-8.82395868e-02]

qacc:
[-1.00710902e-01, 1.79946627e+00,-4.30750634e+00, 1.07291364e+00,
 -1.58454002e-01, 2.06432554e+00,-8.17694891e+00, 1.21230354e+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,
  7.48999565e-01,-3.72437879e+00, 1.24776528e+00, 4.44645959e+00,
  9.00053378e+01,-2.02429832e+02]

qfrc_actuator:
[ 0.00213375, 0.02815941, 0.00867222, 0.00162518,-0.00010674, 0.02795735,
  0.00857446, 0.00175088,-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: -0.0018284164347361076
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03602342e-14, -3.03602342e-14,  1.00000000e+00,  9.21743823e-28,
        1.00000000e+00,  3.03602342e-14, -1.00000000e+00,  0.00000000e+00,
        3.03602342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068798 , -0.02187922,  0.06182519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82187519e-05, 6.72123948e-05,-1.22885749e-05,-7.92286325e-06,
 -2.85421029e-05,-2.63741393e-05,-4.28334764e-05, 5.77913596e-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,
  1.14907062e-05,-1.53259404e-04,-4.90506846e+00, 2.59138210e-05,
  3.08039914e-02, 7.18627001e-03]


--- Step 2209 ---
qpos:
[-2.33599885e-03, 8.65106476e-01,-2.37469787e-02, 3.82167292e-04,
 -2.89780264e-03, 8.61210656e-01,-2.70439193e-02, 3.11813205e-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,
  7.17565829e-03,-4.25778874e-02, 7.93273844e-02, 6.99988266e-01,
 -8.94802570e-02,-7.03000994e-01,-8.83137250e-02]

qacc:
[-8.60529111e-02, 9.03453325e-01,-4.54507479e+00, 1.33447404e+01,
  9.44169567e-02,-8.67593386e-01, 4.69591023e+00,-1.06560427e+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,
  6.95521294e-01,-3.45871190e+00, 4.35860850e-01, 4.19516459e+00,
  8.32773007e+01,-1.87149812e+02]

qfrc_actuator:
[ 2.12679684e-03, 2.82105644e-02, 8.70190823e-03, 1.65690538e-03,
 -7.61541325e-05, 2.79970393e-02, 8.59521702e-03, 1.73771795e-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: -0.001835552920945005
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02421960e-14, -6.04843920e-14,  1.00000000e+00,  1.82918084e-27,
        1.00000000e+00,  6.04843920e-14, -1.00000000e+00,  0.00000000e+00,
        3.02421960e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00688191, -0.02188692,  0.06182461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56590359e-05, 8.54913046e-05, 4.16663560e-05, 3.39984085e-05,
  1.70457936e-05, 1.60295007e-05, 1.01315286e-05,-1.56794007e-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,
  1.10672007e-06, 1.42374769e-05,-4.90500355e+00, 7.16528541e-05,
  3.08010154e-02, 7.18482584e-03]


--- Step 2210 ---
qpos:
[-2.34058455e-03, 8.65122673e-01,-2.37462757e-02, 3.82206762e-04,
 -2.89901703e-03, 8.61224088e-01,-2.70446132e-02, 3.11955767e-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,
  7.18201369e-03,-4.25962246e-02, 7.93332542e-02, 7.00144047e-01,
 -8.91202624e-02,-7.02850463e-01,-8.86403951e-02]

qacc:
[ 2.40577846e-01,-2.32030454e+00, 8.58015416e+00,-1.28946202e+01,
  2.48143309e-01,-2.36791954e+00, 1.10118848e+01,-2.14198182e+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,
  6.50463518e-01,-3.23669226e+00,-2.56174078e-01, 3.95176521e+00,
  7.76780397e+01,-1.74431780e+02]

qfrc_actuator:
[ 2.17799845e-03, 2.81278062e-02, 8.70168826e-03, 1.63999281e-03,
 -3.94815971e-05, 2.80154643e-02, 8.62582795e-03, 1.71147743e-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: -0.0018224836025498709
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09181352e-14, -6.09181352e-14,  1.00000000e+00,  3.71101919e-27,
        1.00000000e+00,  6.09181352e-14, -1.00000000e+00,  0.00000000e+00,
        6.09181352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00687747, -0.02187412,  0.06182579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37153188e-05,-2.52765188e-05, 2.36190970e-05,-1.11712510e-05,
  4.47613143e-05, 2.84988148e-05, 3.45277694e-05,-2.55301465e-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,
  2.82340597e-05,-3.97178900e-05,-4.90500938e+00, 6.30443219e-05,
  3.08021604e-02, 7.18568046e-03]


--- Step 2211 ---
qpos:
[-2.34442859e-03, 8.65138312e-01,-2.37453550e-02, 3.82098542e-04,
 -2.89996142e-03, 8.61237893e-01,-2.70458494e-02, 3.12035335e-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,
  7.19081853e-03,-4.26267645e-02, 7.93357383e-02, 7.00373710e-01,
 -8.85117499e-02,-7.02627170e-01,-8.92042439e-02]

qacc:
[ 3.89425523e-01,-1.65039904e+00, 5.43677996e+00,-7.93124981e+00,
  1.41756430e-01, 7.11616846e-01, 8.37963093e-01,-1.11465406e+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,
  6.12362875e-01,-3.05070759e+00,-8.46423061e-01, 3.71595227e+00,
  7.30189623e+01,-1.63848461e+02]

qfrc_actuator:
[ 2.22803168e-03, 2.80718590e-02, 8.70095931e-03, 1.62995773e-03,
 -3.50272174e-05, 2.80210685e-02, 8.59091090e-03, 1.67773962e-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: -0.0017932169877218629
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.09561819e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.09561819e-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([ 0.00686785, -0.02184509,  0.06182838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08266225e-05,-6.60574522e-05,-3.55628768e-06,-1.05435642e-05,
  2.56932753e-05, 2.72640904e-05,-2.57646412e-05,-3.18411757e-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,
  8.54729494e-05,-2.71044097e-04,-4.90507255e+00, 7.57485840e-06,
  3.08065957e-02, 7.18850831e-03]


--- Step 2212 ---
qpos:
[-2.34815154e-03, 8.65153930e-01,-2.37446958e-02, 3.82525389e-04,
 -2.90056064e-03, 8.61251578e-01,-2.70472431e-02, 3.11974014e-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,
  7.20838477e-03,-4.26532281e-02, 7.93497637e-02, 7.00774123e-01,
 -8.80125720e-02,-7.02231298e-01,-8.96694994e-02]

qacc:
[ 6.33928047e-02, 1.80491492e+00,-8.73315464e+00, 1.84277135e+01,
  1.81751869e-01,-2.61759447e+00, 1.50511333e+01,-3.90970276e+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,
  2.19034778e+00, 1.01909404e+00, 2.88532355e+00,-3.79103265e+00,
  1.11181883e+02, 8.81903198e+01]

qfrc_actuator:
[ 2.20588634e-03, 2.81033812e-02, 8.70002295e-03, 1.65957385e-03,
 -1.43861922e-05, 2.79831792e-02, 8.57078058e-03, 1.60429873e-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: -0.0017873157222550373
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22065021e-06, -1.22065022e-06,  1.00000000e+00, -1.48998695e-12,
        1.00000000e+00,  1.22065022e-06, -1.00000000e+00,  0.00000000e+00,
       -1.22065021e-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([-0.00067945, -0.04669103,  0.06182889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15636199e-05,-6.96419148e-06,-1.55105621e-05, 2.64326021e-05,
  3.28346124e-05,-2.96481451e-05,-1.88774465e-05,-7.38053232e-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,
  1.67426139e-04,-6.47527995e-04,-4.90518375e+00,-8.91336369e-05,
  3.08136211e-02, 7.19304252e-03]


--- Step 2213 ---
qpos:
[-2.35212725e-03, 8.65169489e-01,-2.37443937e-02, 3.84004863e-04,
 -2.90086547e-03, 8.61264781e-01,-2.70487113e-02, 3.11829336e-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,
  7.21155337e-03,-4.26728728e-02, 7.93511919e-02, 7.00876554e-01,
 -8.76280713e-02,-7.02133418e-01,-9.00113321e-02]

qacc:
[-1.32750156e-01, 3.08591614e+00,-1.55597141e+01, 3.43933383e+01,
  1.55199012e-01,-2.14474136e+00, 1.02407245e+01,-2.41949748e+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,
 -3.59941059e+00, 1.70472732e+00,-3.14927156e+00, 3.40153038e+00,
 -2.19611476e+02, 5.70373072e+01]

qfrc_actuator:
[ 2.17626303e-03, 2.80983066e-02, 8.68160174e-03, 1.71235700e-03,
 -1.96899828e-06, 2.79372910e-02, 8.55935435e-03, 1.56132482e-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: -0.0018125887793020157
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53126710e-14, -7.65633549e-15,  1.00000000e+00,  1.17238946e-28,
        1.00000000e+00,  7.65633549e-15, -1.00000000e+00,  0.00000000e+00,
        1.53126710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04926581, -0.0588954 ,  0.06182675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41469567e-05,-1.14077096e-05,-2.09816538e-05, 5.24375395e-05,
  2.79924484e-05,-6.98390362e-05,-2.25268148e-05,-4.63523471e-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,
  7.50892083e-04,-1.17825854e-03,-4.90515374e+00,-1.50408373e-04,
  3.08069436e-02, 7.19591419e-03]


--- Step 2214 ---
qpos:
[-2.35601993e-03, 8.65185109e-01,-2.37443358e-02, 3.85390935e-04,
 -2.90113953e-03, 8.61277510e-01,-2.70498608e-02, 3.11804049e-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,
  7.20151482e-03,-4.26862419e-02, 7.93378800e-02, 7.00705568e-01,
 -8.73481675e-02,-7.02309593e-01,-9.02399087e-02]

qacc:
[ 4.33799578e-02, 5.69387305e-01,-1.52057992e+00, 2.51063620e-01,
  1.66547278e-02, 9.42017241e-01,-9.30580066e+00, 2.98074935e+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,
 -3.30178471e+00, 1.56889024e+00,-3.68504920e+00, 3.46018551e+00,
 -2.01696897e+02, 5.20968976e+01]

qfrc_actuator:
[ 2.19573625e-03, 2.81068259e-02, 8.67064243e-03, 1.70729827e-03,
 -1.23260129e-05, 2.79402723e-02, 8.58863582e-03, 1.62538248e-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: -0.0018367890109939125
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04436883e-14, -6.04436883e-14,  1.00000000e+00,  3.65343946e-27,
        1.00000000e+00,  6.04436883e-14, -1.00000000e+00,  0.00000000e+00,
        6.04436883e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04922623, -0.0588754 ,  0.06182464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.93183275e-06,-3.15606644e-07,-1.42091199e-05,-5.27824425e-06,
  2.91583237e-06,-4.30081421e-05, 1.03867554e-05, 5.93677991e-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,
  2.65620982e-05,-1.49050803e-04,-4.90508650e+00,-1.20971765e-04,
  3.08053804e-02, 7.19294073e-03]


--- Step 2215 ---
qpos:
[-2.35954939e-03, 8.65200731e-01,-2.37449422e-02, 3.86397052e-04,
 -2.90146343e-03, 8.61289967e-01,-2.70501793e-02, 3.11849371e-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,
  7.17928182e-03,-4.26937977e-02, 7.93079798e-02, 7.00281476e-01,
 -8.71643880e-02,-7.02739365e-01,-9.03637579e-02]

qacc:
[ 1.90102679e-01, 1.07441034e+00,-2.22587991e+00,-3.28639826e+00,
 -2.56020151e-02,-1.22635354e+00, 8.70865251e-01, 1.02190149e+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,
 -3.04861440e+00, 1.45333262e+00,-4.14708044e+00, 3.48628898e+00,
 -1.86638901e+02, 4.79503357e+01]

qfrc_actuator:
[ 2.22668006e-03, 2.80879006e-02, 8.62868496e-03, 1.68601201e-03,
 -1.84490643e-05, 2.79550058e-02, 8.64197854e-03, 1.66320189e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001835418165376336
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02444164e-14, -1.51222082e-14,  1.00000000e+00,  4.57362361e-28,
        1.00000000e+00,  1.51222082e-14, -1.00000000e+00,  0.00000000e+00,
        3.02444164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04922824, -0.05887463,  0.06182468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.46911993e-05,-2.26270275e-05,-4.40785200e-05,-2.19197676e-05,
 -4.74600844e-06,-4.92253441e-06, 4.77034868e-05, 3.74747950e-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,
  2.67607287e-04, 2.94245590e-04,-4.90506128e+00,-1.04479648e-04,
  3.08046849e-02, 7.19003618e-03]


--- Step 2216 ---
qpos:
[-2.36251306e-03, 8.65215154e-01,-2.37456016e-02, 3.88634767e-04,
 -2.90184793e-03, 8.61302200e-01,-2.70498317e-02, 3.11940071e-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,
  7.16750709e-03,-4.26962737e-02, 7.92973530e-02, 7.00054689e-01,
 -8.71056464e-02,-7.02970903e-01,-9.03766999e-02]

qacc:
[ 2.97259252e-01, 1.10002158e+00,-1.14184285e+01, 3.36991780e+01,
 -3.14001622e-02,-1.22092039e+00, 2.01072406e+00, 4.93952785e+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,
  2.61456581e+00, 1.26995082e+00, 4.81836374e+00,-5.16900881e+00,
  1.28253970e+02, 1.00321768e+02]

qfrc_actuator:
[ 2.26419284e-03, 2.79637804e-02, 8.60415163e-03, 1.74407630e-03,
 -2.19634235e-05, 2.79412742e-02, 8.67361305e-03, 1.68528859e-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: -0.0018377853801837818
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02054592e-14,  3.02054592e-14,  1.00000000e+00, -9.12369763e-28,
        1.00000000e+00, -3.02054592e-14, -1.00000000e+00,  0.00000000e+00,
        3.02054592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079672, -0.0468065 ,  0.06182429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40105677e-05,-1.47171733e-04,-3.55131648e-05, 5.51184364e-05,
 -5.76785309e-06,-5.32422902e-06, 3.76955859e-05, 2.42372249e-05,
  1.19538893e-05,-3.49661946e-05, 8.46355396e-07, 2.67478472e-05,
  3.34161313e-03, 1.27731796e-05,-1.53311120e-05,-2.34335132e-04,
  1.26462134e-03, 2.78028022e-04,-4.90506747e+00,-9.64853286e-05,
  3.08047118e-02, 7.18698943e-03]


--- Step 2217 ---
qpos:
[-2.36496303e-03, 8.65228657e-01,-2.37463413e-02, 3.91862691e-04,
 -2.90228147e-03, 8.61314701e-01,-2.70493091e-02, 3.12122640e-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,
  7.16538828e-03,-4.26941210e-02, 7.93015644e-02, 7.00010089e-01,
 -8.71627172e-02,-7.03019817e-01,-9.02866165e-02]

qacc:
[ 2.69806299e-01, 1.04743196e+00,-9.67797353e+00, 2.76201650e+01,
 -2.57690654e-02, 1.75479358e+00,-9.62289183e+00, 2.50480166e+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,
  2.41398380e+00, 1.15718489e+00, 3.70952594e+00,-4.64337431e+00,
  1.18239043e+02, 9.29545938e+01]

qfrc_actuator:
[ 2.28754650e-03, 2.79375158e-02, 8.60747982e-03, 1.79503347e-03,
 -2.38818822e-05, 2.79815338e-02, 8.69205495e-03, 1.73341080e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018546363084048709
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99310172e-14, -5.98620344e-14,  1.00000000e+00,  1.79173158e-27,
        1.00000000e+00,  5.98620344e-14, -1.00000000e+00,  0.00000000e+00,
        2.99310172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078474, -0.04680584,  0.06182277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.90440406e-05,-1.13861911e-04,-2.96452012e-05, 4.44718926e-05,
 -4.65651088e-06, 4.58077397e-05, 2.27245625e-05, 4.96501176e-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,
  3.49766622e-04, 8.83737816e-06,-4.90501375e+00,-1.26323453e-04,
  3.08012138e-02, 7.19041380e-03]


--- Step 2218 ---
qpos:
[-2.36720089e-03, 8.65242135e-01,-2.37468480e-02, 3.94501179e-04,
 -2.90274832e-03, 8.61327857e-01,-2.70492589e-02, 3.12291784e-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,
  7.17226423e-03,-4.26877062e-02, 7.93168639e-02, 7.00134987e-01,
 -8.73278925e-02,-7.02898872e-01,-9.01000267e-02]

qacc:
[ 1.11387770e-01,-1.89708060e+00, 9.20464773e+00,-1.97613300e+01,
 -1.80934190e-02, 1.90811404e+00,-4.98081443e+00, 2.93307800e+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,
  2.24868677e+00, 1.06550253e+00, 2.77205751e+00,-4.19517376e+00,
  1.09946055e+02, 8.68319832e+01]

qfrc_actuator:
[ 2.28447783e-03, 2.80056706e-02, 8.64532607e-03, 1.77046458e-03,
 -2.48301217e-05, 2.80182814e-02, 8.66730084e-03, 1.72549737e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018504048275788387
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99994630e-14,  2.99994630e-14,  1.00000000e+00, -8.99967783e-28,
        1.00000000e+00, -2.99994630e-14, -1.00000000e+00,  0.00000000e+00,
        2.99994630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078807, -0.04680885,  0.06182318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02613214e-05,-4.11059291e-08, 1.21129304e-05,-2.96313962e-05,
 -3.15290470e-06, 6.88752055e-05,-1.08813040e-05,-4.22073867e-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,
  1.07786226e-05,-1.99812762e-05,-4.90499345e+00,-1.26638752e-04,
  3.07991290e-02, 7.19210255e-03]


--- Step 2219 ---
qpos:
[-2.36934901e-03, 8.65254752e-01,-2.37460384e-02, 3.97200850e-04,
 -2.90323465e-03, 8.61341302e-01,-2.70499447e-02, 3.12491271e-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,
  7.18759206e-03,-4.26773267e-02, 7.93400846e-02, 7.00418723e-01,
 -8.75947322e-02,-7.02618480e-01,-8.98223070e-02]

qacc:
[ 4.82113276e-02,-4.68762086e+00, 1.48055365e+01,-1.52229046e+01,
 -1.08191725e-02, 3.05979340e+00,-1.16393096e+01, 1.78594075e+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,
  2.11297098e+00, 9.91195336e-01, 1.98026275e+00,-3.80945136e+00,
  1.03080992e+02, 8.17491127e+01]

qfrc_actuator:
[ 2.28340451e-03, 2.79346714e-02, 8.70360187e-03, 1.77277414e-03,
 -2.51923381e-05, 2.79991686e-02, 8.61720646e-03, 1.73790592e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018292685788246638
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06921825e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.06921825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080359, -0.0468148 ,  0.06182513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.55479317e-06,-7.01028612e-05, 5.86295457e-05, 2.12658037e-06,
 -1.84941555e-06, 1.66538207e-05,-3.74639950e-05, 1.48775226e-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,
  1.30759622e-04, 1.44399902e-04,-4.90499910e+00,-1.02232750e-04,
  3.07980603e-02, 7.19238349e-03]


--- Step 2220 ---
qpos:
[-2.37163867e-03, 8.65266191e-01,-2.37445586e-02, 4.00338476e-04,
 -2.90373022e-03, 8.61354693e-01,-2.70516741e-02, 3.12779803e-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,
  7.21092802e-03,-4.26632223e-02, 7.93685540e-02, 7.00852328e-01,
 -8.79578609e-02,-7.02187096e-01,-8.94578694e-02]

qacc:
[-7.33852482e-02,-2.52372587e+00, 4.89534217e+00, 2.47447114e+00,
 -5.46021711e-03, 4.67227784e+00,-2.05264002e+01, 3.76526301e+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,
  2.00203337e+00, 9.31220922e-01, 1.31221451e+00,-3.47386289e+00,
  9.74069904e+01, 7.75405709e+01]

qfrc_actuator:
[ 2.26581329e-03, 2.78342848e-02, 8.71970114e-03, 1.79079593e-03,
 -2.52034436e-05, 2.79643968e-02, 8.55236054e-03, 1.77987631e-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: -0.0017947319042573712
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18601041e-14, -1.54650260e-14,  1.00000000e+00,  9.56668120e-28,
        1.00000000e+00,  1.54650260e-14, -1.00000000e+00,  0.00000000e+00,
        6.18601041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00082875, -0.04682308,  0.06182829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35507936e-05,-1.27691579e-04, 8.80956462e-06, 1.70650969e-05,
 -8.86263883e-07,-3.28793600e-05,-6.56117683e-05, 4.16541842e-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,
  6.24886222e-04, 4.67676768e-04,-4.90502669e+00,-5.66428408e-05,
  3.07976876e-02, 7.19149571e-03]


--- Step 2221 ---
qpos:
[-2.37372466e-03, 8.65277461e-01,-2.37428818e-02, 4.01844219e-04,
 -2.90404146e-03, 8.61367647e-01,-2.70534454e-02, 3.13079860e-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,
  7.22167781e-03,-4.26429002e-02, 7.93813805e-02, 7.01020881e-01,
 -8.84181983e-02,-7.02021283e-01,-8.89835056e-02]

qacc:
[ 1.06934748e-01,-4.13356291e+00, 2.13015057e+01,-4.97363221e+01,
  9.72583844e-02,-2.23948333e-01,-5.26786203e-01, 2.90977062e+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,
 -3.14654236e+00, 1.55440235e+00,-3.91073944e+00, 4.75188847e+00,
 -1.95303264e+02, 4.91153915e+01]

qfrc_actuator:
[ 2.29176460e-03, 2.78766988e-02, 8.74611938e-03, 1.71132803e-03,
 -7.25370326e-06, 2.79382102e-02, 8.55027617e-03, 1.78561751e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017993185093683403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08512089e-14,  7.71280223e-15,  1.00000000e+00, -2.37949273e-28,
        1.00000000e+00, -7.71280223e-15, -1.00000000e+00,  0.00000000e+00,
        3.08512089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04929644, -0.05890439,  0.06182805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94520262e-05,-2.67232386e-05, 1.61746868e-06,-8.43245769e-05,
  1.75253944e-05,-5.66498608e-05,-1.56140612e-05, 2.85036322e-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,
  1.43173220e-03, 9.25003557e-04,-4.90507456e+00, 7.52869044e-06,
  3.07977427e-02, 7.18961346e-03]


--- Step 2222 ---
qpos:
[-2.37517192e-03, 8.65289252e-01,-2.37412706e-02, 4.01967746e-04,
 -2.90433848e-03, 8.61380021e-01,-2.70546112e-02, 3.13381724e-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,
  7.22072356e-03,-4.26168033e-02, 7.93768748e-02, 7.00943370e-01,
 -8.89692972e-02,-7.02101889e-01,-8.84069766e-02]

qacc:
[ 3.34751880e-01,-1.97186757e+00, 1.38661047e+01,-3.80665237e+01,
  8.08451386e-03,-2.41657883e+00, 7.43233076e+00,-7.66539142e+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,
 -2.92601246e+00, 1.44373581e+00,-4.33307217e+00, 4.13359685e+00,
 -1.81298689e+02, 4.58264020e+01]

qfrc_actuator:
[ 2.34355285e-03, 2.79509993e-02, 8.76118131e-03, 1.64627148e-03,
 -1.42225958e-05, 2.79175793e-02, 8.58526436e-03, 1.78779286e-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: -0.0017930922855643322
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54791674e-14, -7.73958369e-15,  1.00000000e+00,  1.19802311e-28,
        1.00000000e+00,  7.73958369e-15, -1.00000000e+00,  0.00000000e+00,
        1.54791674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04930839, -0.05891066,  0.06182867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10318977e-05, 5.58028671e-05, 6.72079216e-06,-6.78086538e-05,
  1.33962408e-06,-5.57095595e-05, 2.13698412e-05,-7.58303936e-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,
  3.10139280e-04, 6.12828652e-04,-4.90504009e+00, 3.41343046e-06,
  3.07954470e-02, 7.18791595e-03]


--- Step 2223 ---
qpos:
[-2.37635917e-03, 8.65300853e-01,-2.37395787e-02, 4.02427224e-04,
 -2.90485824e-03, 8.61392361e-01,-2.70558274e-02, 3.13646765e-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,
  7.20603532e-03,-4.25942157e-02, 7.93531560e-02, 7.00601203e-01,
 -8.93963914e-02,-7.02443457e-01,-8.79740267e-02]

qacc:
[ 1.36517469e-01, 2.13593704e-01,-2.54599111e+00, 8.37153758e+00,
 -1.17401759e-01,-6.63343326e-01, 3.85237307e+00,-1.01195693e+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,
 -3.43349400e+00,-8.77364541e-01,-4.80325502e+00,-7.18116088e+00,
 -1.72499161e+02,-1.17159951e+02]

qfrc_actuator:
[ 2.33931620e-03, 2.79017866e-02, 8.75186079e-03, 1.66127537e-03,
 -3.60462903e-05, 2.79361035e-02, 8.58860775e-03, 1.77012714e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017793910578880884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.11967125e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.11967125e-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([ 0.05535342, -0.03506397,  0.06182983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48325078e-05,-1.98079785e-05, 5.80471389e-07, 1.62857752e-05,
 -2.11952186e-05,-8.53814154e-06,-5.64887747e-06,-1.93490713e-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,
  2.91148435e-07,-7.49203652e-05,-4.90503329e+00,-2.35692360e-06,
  3.07937695e-02, 7.18541430e-03]


--- Step 2224 ---
qpos:
[-2.37763188e-03, 8.65312266e-01,-2.37379425e-02, 4.02726937e-04,
 -2.90543123e-03, 8.61404923e-01,-2.70570679e-02, 3.13746838e-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,
  7.19467655e-03,-4.25877028e-02, 7.93374465e-02, 7.00356613e-01,
 -8.94969486e-02,-7.02689606e-01,-8.78534533e-02]

qacc:
[-4.47991347e-02,-4.21102153e-01, 1.81634217e+00,-4.35471465e+00,
 -2.82295318e-02,-3.03091779e+00, 1.82005893e+01,-4.68801377e+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,
  8.32366247e-01,-4.01865121e+00, 2.00232324e+00, 4.83698156e+00,
  9.60230577e+01,-2.15555304e+02]

qfrc_actuator:
[ 2.31934048e-03, 2.78854859e-02, 8.74554328e-03, 1.65213971e-03,
 -3.10463191e-05, 2.79600561e-02, 8.59113053e-03, 1.68767795e-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: -0.0017985332985548108
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.25940342e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.25940342e-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([ 0.0068576 , -0.02186802,  0.06182801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.16875031e-06,-2.68433663e-05,-9.87784291e-06,-9.66812036e-06,
 -5.05755579e-06, 1.68900399e-05,-6.98305309e-07,-8.34078230e-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,
  5.43476211e-04,-8.95182747e-04,-4.90506373e+00, 7.39747541e-06,
  3.08002277e-02, 7.18571452e-03]


--- Step 2225 ---
qpos:
[-2.37906534e-03, 8.65324181e-01,-2.37369528e-02, 4.02175946e-04,
 -2.90618148e-03, 8.61416678e-01,-2.70578761e-02, 3.13826534e-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,
  7.18637293e-03,-4.25959969e-02, 7.93260282e-02, 7.00201936e-01,
 -8.92971409e-02,-7.02848308e-01,-8.80200292e-02]

qacc:
[-8.49501021e-02, 7.17471381e-01, 1.99422165e+00,-1.60504074e+01,
 -9.28459886e-02,-2.69215809e+00, 8.91243161e+00,-1.25399198e+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,
  7.63785022e-01,-3.70174537e+00, 1.07281018e+00, 4.47512685e+00,
  8.82557258e+01,-1.98222496e+02]

qfrc_actuator:
[ 2.30791540e-03, 2.79422634e-02, 8.72337904e-03, 1.61112902e-03,
 -4.55378404e-05, 2.78627528e-02, 8.59315496e-03, 1.67430322e-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: -0.0018238941668360861
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04355111e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04355111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068656 , -0.02189484,  0.0618257 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53461712e-05, 3.90302356e-05,-2.93617094e-05,-4.27105826e-05,
 -1.68879439e-05,-9.18693072e-05, 2.44842248e-06,-1.43176846e-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,
  3.44657654e-04,-2.11273666e-04,-4.90500805e+00, 7.47523777e-05,
  3.07997589e-02, 7.18343805e-03]


--- Step 2226 ---
qpos:
[-2.38064036e-03, 8.65336516e-01,-2.37374043e-02, 4.01203198e-04,
 -2.90710276e-03, 8.61426994e-01,-2.70583356e-02, 3.14002022e-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,
  7.18089393e-03,-4.26180379e-02, 7.93157280e-02, 7.00130414e-01,
 -8.88187737e-02,-7.02925841e-01,-8.84527550e-02]

qacc:
[-7.53272888e-02, 3.71053081e+00,-1.06470601e+01, 5.34834905e+00,
 -8.93186054e-02,-9.02193883e-01,-3.58415052e+00, 2.06613053e+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,
  7.06159264e-01,-3.43672765e+00, 2.79509174e-01, 4.13297011e+00,
  8.17827068e+01,-1.83788123e+02]

qfrc_actuator:
[ 2.30173019e-03, 2.79357574e-02, 8.63906202e-03, 1.58725343e-03,
 -5.38262912e-05, 2.77468958e-02, 8.59443352e-03, 1.71933975e-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: -0.0018254031169514379
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04103519e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04103519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00686587, -0.02189741,  0.0618255 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35187615e-05, 7.13650448e-06,-8.14509236e-05,-2.40695577e-05,
 -1.63129084e-05,-1.67614483e-04,-1.79765504e-05, 4.08893920e-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,
  2.03581365e-04, 1.81874733e-04,-4.90503179e+00, 8.05699099e-05,
  3.08038551e-02, 7.18378899e-03]


--- Step 2227 ---
qpos:
[-2.38250011e-03, 8.65348546e-01,-2.37386735e-02, 4.01038925e-04,
 -2.90796608e-03, 8.61436319e-01,-2.70582810e-02, 3.14119621e-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,
  7.17804545e-03,-4.26529369e-02, 7.93038360e-02, 7.00136063e-01,
 -8.80800257e-02,-7.02927099e-01,-8.91341459e-02]

qacc:
[-1.49715686e-01, 3.54411907e+00,-1.66362430e+01, 3.21634118e+01,
  3.11832666e-02,-3.93421654e+00, 1.45730504e+01,-2.46894972e+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,
  6.57626924e-01,-3.21451022e+00,-3.97944957e-01, 3.80739682e+00,
  7.63829651e+01,-1.71762908e+02]

qfrc_actuator:
[ 2.28098137e-03, 2.78911625e-02, 8.58951707e-03, 1.62682812e-03,
 -4.05756042e-05, 2.77273760e-02, 8.63068040e-03, 1.69182707e-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: -0.0018076421782453542
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.0709148e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.0709148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00685997, -0.02188062,  0.06182698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72148545e-05,-5.87438176e-05,-5.90294990e-05, 3.65767096e-05,
  5.48903947e-06,-1.15455074e-04, 7.49886896e-07,-3.45367145e-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,
  1.08509760e-04, 3.45079066e-04,-4.90511726e+00, 3.41152129e-05,
  3.08114528e-02, 7.18634839e-03]


--- Step 2228 ---
qpos:
[-2.38461651e-03, 8.65359944e-01,-2.37398466e-02, 4.01328611e-04,
 -2.90852862e-03, 8.61444989e-01,-2.70573783e-02, 3.14162001e-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,
  7.18471710e-03,-4.26833592e-02, 7.93075851e-02, 7.00327696e-01,
 -8.74619489e-02,-7.02740551e-01,-8.97064310e-02]

qacc:
[-1.34311507e-01,-1.68486292e-01,-2.52622331e+00, 1.06926059e+01,
  1.59190194e-01,-4.77904763e+00, 1.89629838e+01,-3.28617653e+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,
  2.38003255e+00, 1.11916904e+00, 3.91027287e+00,-4.07564514e+00,
  1.20927928e+02, 9.71656667e+01]

qfrc_actuator:
[ 2.26944682e-03, 2.78597769e-02, 8.59629376e-03, 1.65015356e-03,
 -1.45620118e-05, 2.77302817e-02, 8.68760362e-03, 1.65744377e-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: -0.0018288526512487135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.07059855e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.07059855e-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([-0.00080055, -0.04682448,  0.06182504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45365949e-05,-7.51335814e-05,-1.14449238e-05, 1.94625875e-05,
  2.86043842e-05,-6.32036825e-05, 3.18995067e-05,-3.99916838e-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,
  5.06627783e-05, 3.23274418e-04,-4.90525213e+00,-5.76586703e-05,
  3.08216748e-02, 7.19077734e-03]


--- Step 2229 ---
qpos:
[-2.38654592e-03, 8.65371136e-01,-2.37410809e-02, 4.01160139e-04,
 -2.90859740e-03, 8.61453278e-01,-2.70564912e-02, 3.14199740e-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,
  7.20028905e-03,-4.27096575e-02, 7.93231079e-02, 7.00692096e-01,
 -8.69555820e-02,-7.02379720e-01,-9.01778380e-02]

qacc:
[ 9.80911716e-02,-1.04372923e+00, 5.26129092e+00,-1.29419043e+01,
  2.60257687e-01,-5.56220628e-01, 1.44726760e+00,-1.94513487e+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,
  2.22507740e+00, 1.03102362e+00, 2.94343400e+00,-3.93310274e+00,
  1.12311127e+02, 8.99461956e+01]

qfrc_actuator:
[ 2.29903191e-03, 2.78722707e-02, 8.60077130e-03, 1.62825531e-03,
  1.88433283e-05, 2.77111973e-02, 8.68538233e-03, 1.65484822e-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: -0.0018299993264131453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.03339736e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.03339736e-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([-0.00079849, -0.04682489,  0.06182495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78582074e-05,-3.13100460e-05,-1.18552392e-05,-2.51492951e-05,
  4.69708208e-05,-4.97635269e-05,-1.28052737e-05,-4.99312154e-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,
  9.93456250e-05,-4.99992589e-04,-4.90518522e+00,-1.50126461e-04,
  3.08137538e-02, 7.19515667e-03]


--- Step 2230 ---
qpos:
[-2.38837961e-03, 8.65382273e-01,-2.37421033e-02, 4.01036579e-04,
 -2.90841070e-03, 8.61461529e-01,-2.70563510e-02, 3.14234697e-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,
  7.20168139e-03,-4.27292813e-02, 7.93257497e-02, 7.00761889e-01,
 -8.65621875e-02,-7.02313676e-01,-9.05276924e-02]

qacc:
[ 5.03596422e-02,-5.72656175e-01, 1.74575634e+00,-1.26691824e+00,
  1.34134370e-01, 1.97889875e+00,-7.01073529e+00, 7.75370240e+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,
 -3.54490636e+00, 1.66861975e+00,-3.22025877e+00, 3.59142644e+00,
 -2.17119078e+02, 5.61600760e+01]

qfrc_actuator:
[ 2.29968989e-03, 2.78931659e-02, 8.62174085e-03, 1.63321128e-03,
  2.08651577e-05, 2.77144130e-02, 8.64819875e-03, 1.65316777e-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: -0.0018500696538061162
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00048980e-14, -2.25036735e-14,  1.00000000e+00,  6.75220427e-28,
        1.00000000e+00,  2.25036735e-14, -1.00000000e+00,  0.00000000e+00,
        3.00048980e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04921346, -0.05885074,  0.06182329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.14390742e-06,-3.88212665e-07, 1.20952098e-05, 2.70003217e-06,
  2.43043254e-05,-2.76698653e-05,-4.92855721e-05,-4.36792223e-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,
  6.01215358e-04,-1.05880070e-03,-4.90515093e+00,-2.14339236e-04,
  3.08069021e-02, 7.19809952e-03]


--- Step 2231 ---
qpos:
[-2.39052815e-03, 8.65392655e-01,-2.37425532e-02, 4.01037749e-04,
 -2.90827908e-03, 8.61469996e-01,-2.70568364e-02, 3.14263224e-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,
  7.19005150e-03,-4.27427524e-02, 7.93134033e-02, 7.00561127e-01,
 -8.62718363e-02,-7.02518913e-01,-9.07659284e-02]

qacc:
[-1.64510345e-01,-2.33727937e+00, 6.36309813e+00,-4.56837938e+00,
 -2.94906735e-02, 1.89792177e+00,-6.08457617e+00, 5.81653526e+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,
 -3.25555431e+00, 1.53815945e+00,-3.74704443e+00, 3.66046038e+00,
 -1.99554064e+02, 5.13055925e+01]

qfrc_actuator:
[ 2.26525547e-03, 2.78125187e-02, 8.63460443e-03, 1.63620734e-03,
  4.09765690e-06, 2.77485690e-02, 8.62628069e-03, 1.65203637e-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: -0.0018689623568228925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48507944e-14,  3.71269859e-14,  1.00000000e+00,  5.51365232e-28,
        1.00000000e+00, -3.71269859e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48507944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04918313, -0.05883477,  0.06182166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00988281e-05,-7.85019481e-05, 1.42889597e-05, 3.43557421e-06,
 -5.23731983e-06, 8.12146516e-06,-3.39237122e-05,-4.12133163e-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,
  9.11173920e-06,-7.03598690e-05,-4.90508800e+00,-1.85839982e-04,
  3.08055322e-02, 7.19526828e-03]


--- Step 2232 ---
qpos:
[-2.39321811e-03, 8.65402360e-01,-2.37424754e-02, 4.00378215e-04,
 -2.90809288e-03, 8.61478296e-01,-2.70571646e-02, 3.14220501e-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,
  7.17487423e-03,-4.27414557e-02, 7.93011829e-02, 7.00269868e-01,
 -8.62669824e-02,-7.02818227e-01,-9.07009362e-02]

qacc:
[-2.83435790e-01,-3.72866858e+00, 1.47853904e+01,-2.65689244e+01,
  2.88692231e-02,-2.12448601e+00, 1.02642870e+01,-2.27266112e+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,
 -8.86846096e-01, 3.69196822e+00, 3.15029149e-02, 6.87339375e+00,
 -9.07779737e+01, 1.98333459e+02]

qfrc_actuator:
[ 2.22789051e-03, 2.77781823e-02, 8.65991173e-03, 1.60242440e-03,
  1.17701805e-05, 2.77300415e-02, 8.63145198e-03, 1.61577674e-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: -0.0018717749259748173
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93139169e-14, -5.93139169e-14,  1.00000000e+00,  3.51814074e-27,
        1.00000000e+00,  5.93139169e-14, -1.00000000e+00,  0.00000000e+00,
        5.93139169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02121964, -0.06491367,  0.06182135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.17421749e-05,-7.53771319e-05, 1.08974271e-05,-3.65986233e-05,
  5.18879701e-06,-2.13690445e-05, 2.46248091e-06,-3.71786655e-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,
  3.52704500e-04, 3.48731681e-04,-4.90506593e+00,-1.69849905e-04,
  3.08049943e-02, 7.19240119e-03]


--- Step 2233 ---
qpos:
[-2.39657230e-03, 8.65411889e-01,-2.37420436e-02, 3.99611041e-04,
 -2.90783347e-03, 8.61486226e-01,-2.70573305e-02, 3.14137261e-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,
  7.15643434e-03,-4.27264767e-02, 7.92862153e-02, 6.99894190e-01,
 -8.65267767e-02,-7.03205013e-01,-9.03545722e-02]

qacc:
[-3.48103890e-01,-1.44188041e+00, 5.25945169e+00,-7.56102579e+00,
  3.87811376e-02,-1.77548227e+00, 7.33166987e+00,-1.43331137e+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,
 -8.15654341e-01, 3.42056841e+00,-6.86808953e-01, 6.53965947e+00,
 -8.44311113e+01, 1.83916488e+02]

qfrc_actuator:
[ 2.18911974e-03, 2.78073634e-02, 8.69250095e-03, 1.60056751e-03,
  1.62664713e-05, 2.76979522e-02, 8.63459172e-03, 1.59461935e-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: -0.0018672977434923549
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.94561327e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.94561327e-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([ 0.02122229, -0.06491832,  0.06182168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.34620076e-05,-1.25162382e-05, 1.70241420e-05,-5.43377212e-06,
  6.95640506e-06,-4.53173891e-05,-2.31959920e-06,-2.27228676e-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,
  5.49256708e-04,-1.27704745e-04,-4.90500652e+00,-1.85265584e-04,
  3.07989578e-02, 7.18987355e-03]


--- Step 2234 ---
qpos:
[-2.40009666e-03, 8.65420288e-01,-2.37408525e-02, 3.99957713e-04,
 -2.90769910e-03, 8.61493881e-01,-2.70575449e-02, 3.14133136e-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,
  7.14793328e-03,-4.27067495e-02, 7.92868069e-02, 6.99701681e-01,
 -8.69029896e-02,-7.03407789e-01,-8.99050138e-02]

qacc:
[-8.83237144e-02,-1.31944681e+00,-2.16136268e+00, 2.10517603e+01,
 -6.57641745e-02, 1.40022804e+00,-8.85943740e+00, 2.28326807e+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,
  2.48470610e+00, 1.18703510e+00, 3.88981505e+00,-4.84557171e+00,
  1.19072455e+02, 9.32816691e+01]

qfrc_actuator:
[ 2.20310274e-03, 2.76968977e-02, 8.71166937e-03, 1.65308272e-03,
  1.06392324e-06, 2.76935017e-02, 8.63644460e-03, 1.63575888e-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: -0.0018750726000636014
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96048010e-14,  2.96048010e-14,  1.00000000e+00,  8.76444244e-28,
        1.00000000e+00, -2.96048010e-14, -1.00000000e+00,  0.00000000e+00,
       -2.96048010e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076635, -0.04682645,  0.06182093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62872253e-05,-1.14410484e-04, 1.84189573e-05, 5.24499620e-05,
 -1.19067347e-05,-3.14299232e-05,-8.63901639e-06, 3.86649346e-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,
  7.71633931e-04,-7.84967093e-04,-4.90495984e+00,-2.00674570e-04,
  3.07905719e-02, 7.18599015e-03]


--- Step 2235 ---
qpos:
[-2.40341292e-03, 8.65427856e-01,-2.37396619e-02, 3.99910414e-04,
 -2.90771972e-03, 8.61501184e-01,-2.70571445e-02, 3.14174647e-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,
  7.14864630e-03,-4.26826520e-02, 7.92990763e-02, 6.99679286e-01,
 -8.73880615e-02,-7.03439613e-01,-8.93584621e-02]

qacc:
[ 1.09416481e-01,-1.90725764e+00, 6.87017203e+00,-1.30778249e+01,
 -8.11090218e-02,-1.24248256e+00, 1.82912450e+00, 5.34306278e+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,
  2.30352123e+00, 1.09257734e+00, 2.91942017e+00,-4.26437784e+00,
  1.10529487e+02, 8.72944778e+01]

qfrc_actuator:
[ 2.23075703e-03, 2.76456890e-02, 8.70448581e-03, 1.63052698e-03,
 -8.03632637e-06, 2.76879341e-02, 8.67317641e-03, 1.65998440e-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: -0.00187276378118785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.9641299e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.9641299e-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([-0.00076911, -0.04682949,  0.06182116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98575817e-05,-1.09337938e-04,-2.68015309e-05,-2.58126348e-05,
 -1.47547446e-05,-2.34535237e-05, 3.04557617e-05, 2.33216192e-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,
  1.48108726e-04,-4.32064831e-04,-4.90494655e+00,-1.56260804e-04,
  3.07889270e-02, 7.18851337e-03]


--- Step 2236 ---
qpos:
[-2.40644425e-03, 8.65435936e-01,-2.37397181e-02, 3.99161156e-04,
 -2.90787026e-03, 8.61508399e-01,-2.70566077e-02, 3.14141117e-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,
  7.15797835e-03,-4.26544879e-02, 7.93197440e-02, 6.99816022e-01,
 -8.79756695e-02,-7.03311148e-01,-8.87200393e-02]

qacc:
[ 1.48437357e-01, 2.71296283e+00,-5.73029749e+00,-4.79692611e+00,
 -6.83680623e-02,-2.03941072e+00, 1.02734756e+01,-2.34171571e+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,
  2.15475662e+00, 1.01667796e+00, 2.09959785e+00,-3.76684124e+00,
  1.03449285e+02, 8.23176732e+01]

qfrc_actuator:
[ 2.24855125e-03, 2.77367038e-02, 8.66419446e-03, 1.59949620e-03,
 -1.33952362e-05, 2.76818839e-02, 8.67693383e-03, 1.62082196e-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: -0.0018529045828708235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99589907e-14, -2.99589907e-14,  1.00000000e+00,  8.97541126e-28,
        1.00000000e+00,  2.99589907e-14, -1.00000000e+00,  0.00000000e+00,
        2.99589907e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078433, -0.04683553,  0.06182299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72299647e-05, 2.30542214e-05,-6.71351318e-05,-3.71576162e-05,
 -1.23642311e-05,-1.20564888e-05, 3.41179042e-06,-3.86712249e-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,
  8.79494284e-06, 8.83954717e-05,-4.90495912e+00,-8.79415746e-05,
  3.07882006e-02, 7.18940679e-03]


--- Step 2237 ---
qpos:
[-2.40921739e-03, 8.65444775e-01,-2.37408649e-02, 3.98691844e-04,
 -2.90811474e-03, 8.61515490e-01,-2.70565831e-02, 3.14100499e-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,
  7.17544274e-03,-4.26224998e-02, 7.93460424e-02, 7.00102635e-01,
 -8.86605361e-02,-7.03031063e-01,-8.79939455e-02]

qacc:
[ 1.34483150e-01, 4.62367723e+00,-1.62145225e+01, 2.22501168e+01,
 -4.97739999e-02, 1.11926687e+00,-3.93150111e+00, 3.61714912e+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,
  2.03308724e+00, 9.55970948e-01, 1.40767876e+00,-3.33472807e+00,
  9.75874171e+01, 7.81963284e+01]

qfrc_actuator:
[ 2.26026935e-03, 2.78055258e-02, 8.62303756e-03, 1.61710388e-03,
 -1.64724168e-05, 2.76576674e-02, 8.64338646e-03, 1.61566149e-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: -0.0018191109585911774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10310778e-14, -3.05155389e-14,  1.00000000e+00,  1.86239623e-27,
        1.00000000e+00,  3.05155389e-14, -1.00000000e+00,  0.00000000e+00,
        6.10310778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080939, -0.04684401,  0.06182608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46849832e-05, 6.60755439e-05,-4.60127944e-05, 1.55373592e-05,
 -8.94547014e-06,-3.20884095e-05,-3.70162880e-05,-6.32275125e-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,
  2.63069005e-04, 7.47056010e-04,-4.90499339e+00, 9.12926626e-07,
  3.07880212e-02, 7.18897722e-03]


--- Step 2238 ---
qpos:
[-2.41178368e-03, 8.65452901e-01,-2.37416690e-02, 3.98872218e-04,
 -2.90842162e-03, 8.61522543e-01,-2.70567843e-02, 3.14119977e-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,
  7.19602609e-03,-4.26045850e-02, 7.93745759e-02, 7.00473170e-01,
 -8.90583887e-02,-7.02667791e-01,-8.75438044e-02]

qacc:
[ 1.08980269e-01,-5.62157419e-01,-2.10554438e+00, 1.33248759e+01,
 -3.29707198e-02, 1.81560250e+00,-9.08552668e+00, 1.98778663e+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,
  7.79738343e-01,-3.51831183e+00, 5.58759171e-01, 3.52829250e+00,
  8.34805027e+01,-1.90107541e+02]

qfrc_actuator:
[ 2.26825455e-03, 2.77008067e-02, 8.61720910e-03, 1.64544087e-03,
 -1.81645700e-05, 2.76758811e-02, 8.64130814e-03, 1.64827548e-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: -0.0017876079542793258
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10533141e-14, -3.10533141e-14,  1.00000000e+00,  9.64308314e-28,
        1.00000000e+00,  3.10533141e-14, -1.00000000e+00,  0.00000000e+00,
        3.10533141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683116, -0.02187024,  0.06182899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97425031e-05,-7.67999158e-05, 2.62903430e-06, 2.98664602e-05,
 -5.94056317e-06,-7.81560673e-06,-1.35407489e-05, 2.98249818e-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,
  8.44896314e-04, 1.52310229e-03,-4.90504761e+00, 1.07837460e-04,
  3.07880808e-02, 7.18744902e-03]


--- Step 2239 ---
qpos:
[-2.41400596e-03, 8.65459545e-01,-2.37415006e-02, 3.99102375e-04,
 -2.90895376e-03, 8.61529835e-01,-2.70569133e-02, 3.14207108e-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,
  7.21949879e-03,-4.25998223e-02, 7.94025508e-02, 7.00922690e-01,
 -8.91890523e-02,-7.02226921e-01,-8.73501470e-02]

qacc:
[ 1.81562407e-01,-4.56983596e+00, 1.32449250e+01,-1.28536001e+01,
 -1.18671199e-01, 1.50759078e+00,-7.77094724e+00, 1.91887657e+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,
  7.22336227e-01,-3.28803765e+00,-1.39634092e-01, 3.58846132e+00,
  7.80442661e+01,-1.76789777e+02]

qfrc_actuator:
[ 2.29170072e-03, 2.75818951e-02, 8.64933332e-03, 1.64422848e-03,
 -3.67722985e-05, 2.77195167e-02, 8.65802975e-03, 1.68515801e-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: -0.0017819704545757875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23031107e-14, -6.23031107e-14,  1.00000000e+00,  3.88167760e-27,
        1.00000000e+00,  6.23031107e-14, -1.00000000e+00,  0.00000000e+00,
        6.23031107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682711, -0.02186335,  0.06182966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28303375e-05,-1.60213526e-04, 1.75639557e-05,-3.84123626e-06,
 -2.14280429e-05, 3.75780684e-05, 1.44168555e-05, 3.66489373e-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,
  1.10153309e-03, 9.90952200e-04,-4.90501098e+00, 1.40515145e-04,
  3.07886401e-02, 7.18831137e-03]


--- Step 2240 ---
qpos:
[-2.41591021e-03, 8.65465394e-01,-2.37408699e-02, 3.99263613e-04,
 -2.90989311e-03, 8.61537548e-01,-2.70566446e-02, 3.14298508e-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,
  7.22802214e-03,-4.25991691e-02, 7.94128638e-02, 7.01088324e-01,
 -8.91932199e-02,-7.02065953e-01,-8.73105359e-02]

qacc:
[ 1.67366382e-01,-2.48273065e+00, 7.62025989e+00,-8.97037275e+00,
 -2.14409111e-01,-4.68172366e-01, 2.29436852e+00,-2.50122191e+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,
 -3.73733515e+00,-1.02736239e+00,-4.41548551e+00,-1.01907196e+01,
 -1.85376789e+02,-1.23282626e+02]

qfrc_actuator:
[ 2.30645092e-03, 2.75797902e-02, 8.68570967e-03, 1.64337910e-03,
 -6.53415520e-05, 2.77603894e-02, 8.68582362e-03, 1.68878046e-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: -0.001769945433023487
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13631992e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.13631992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05536637, -0.03501718,  0.06183087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03653655e-05,-8.83812825e-05, 5.26541362e-06,-7.19019024e-06,
 -3.87340272e-05, 6.62551605e-05, 3.85416188e-05, 6.43264245e-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,
  1.37467791e-03, 3.15554285e-04,-4.90503144e+00, 1.25853146e-04,
  3.07919600e-02, 7.19101109e-03]


--- Step 2241 ---
qpos:
[-2.41756454e-03, 8.65470970e-01,-2.37398345e-02, 4.00384628e-04,
 -2.91138582e-03, 8.61545465e-01,-2.70556568e-02, 3.14394000e-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,
  7.22274380e-03,-4.26022732e-02, 7.94038539e-02, 7.00992556e-01,
 -8.90800566e-02,-7.02163190e-01,-8.74130099e-02]

qacc:
[ 1.31471964e-01, 4.83620304e-01,-6.30051641e+00, 2.24647943e+01,
 -2.91128731e-01,-1.65148677e+00, 6.11110208e+00,-6.70654768e+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,
 -3.45042522e+00,-9.39313879e-01,-4.83073522e+00,-9.13258200e+00,
 -1.70814297e+02,-1.13920738e+02]

qfrc_actuator:
[ 2.31587192e-03, 2.76121697e-02, 8.72475837e-03, 1.69610423e-03,
 -9.96156779e-05, 2.77638238e-02, 8.71990643e-03, 1.69056271e-03,
 -2.38590902e-03, 2.75159602e-02, 8.63898580e-03, 1.67717258e-03,
  0.00000000e+00,-1.41940236e-03, 0.00000000e+00,-8.40435866e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001783897153674087
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11179101e-14,  3.11179101e-14,  1.00000000e+00, -9.68324328e-28,
        1.00000000e+00, -3.11179101e-14, -1.00000000e+00,  0.00000000e+00,
        3.11179101e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0553399 , -0.03501909,  0.06182971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38717388e-05,-1.63986139e-05, 2.11448291e-05, 4.89711508e-05,
 -5.26478691e-05, 4.85249612e-05, 5.26733945e-05, 6.06669676e-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,
  1.76998819e-04, 2.10148387e-06,-4.90500612e+00, 9.09815761e-05,
  3.07974258e-02, 7.18503817e-03]


--- Step 2242 ---
qpos:
[-2.41922116e-03, 8.65476308e-01,-2.37386312e-02, 4.02138887e-04,
 -2.91316075e-03, 8.61552996e-01,-2.70536693e-02, 3.14531128e-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,
  7.20464660e-03,-4.26088384e-02, 7.93740835e-02, 7.00653977e-01,
 -8.88572681e-02,-7.02500053e-01,-8.76473981e-02]

qacc:
[-9.79279105e-04, 5.22237626e-01,-4.98799581e+00, 1.58523134e+01,
 -1.47877807e-01,-2.44456303e+00, 6.21895356e+00,-3.31021735e-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,
 -3.20471267e+00,-8.65301122e-01,-5.19010193e+00,-8.23103946e+00,
 -1.58568112e+02,-1.06008263e+02]

qfrc_actuator:
[ 0.00230428, 0.02759403, 0.00872978, 0.00172672,-0.0001015 , 0.02770934,
  0.00875728, 0.00170898,-0.0023606 , 0.02754059, 0.00868375, 0.00170124,
  0.        ,-0.00139732, 0.        ,-0.00084156, 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: -0.0017746200772806864
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.12805833e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.12805833e-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([ 0.05535709, -0.03501353,  0.06183046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24724478e-07,-2.09840870e-05, 5.88004721e-06, 3.15815737e-05,
 -2.68618443e-05,-1.64205538e-05, 5.40259578e-05, 2.24211229e-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,
  7.57848272e-05, 6.54411535e-05,-4.90500861e+00, 8.38210087e-05,
  3.07990276e-02, 7.18368474e-03]


--- Step 2243 ---
qpos:
[-2.42094489e-03, 8.65481771e-01,-2.37380219e-02, 4.03562473e-04,
 -2.91451260e-03, 8.61560311e-01,-2.70511653e-02, 3.14621396e-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,
  7.18949548e-03,-4.26303735e-02, 7.93476149e-02, 7.00403763e-01,
 -8.83431632e-02,-7.02750488e-01,-8.81578468e-02]

qacc:
[-3.56296668e-02, 1.14186655e+00,-2.43901671e+00,-2.42311958e+00,
  2.23253608e-01,-2.68995439e+00, 1.11584105e+01,-1.99393372e+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,
  7.36519098e-01,-3.74246727e+00, 8.25444295e-01, 5.22811253e+00,
  8.63482162e+01,-1.91323984e+02]

qfrc_actuator:
[ 2.29799475e-03, 2.75988994e-02, 8.69670247e-03, 1.70849461e-03,
 -4.84908578e-05, 2.76916166e-02, 8.77831293e-03, 1.68372387e-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: -0.0017709300817092405
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.13457611e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.13457611e-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([ 0.0068217 , -0.02184836,  0.0618306 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.41130156e-06,-4.42915273e-06,-3.56448066e-05,-1.83134046e-05,
  4.02569614e-05,-1.49850785e-05, 2.49948043e-05,-2.36675829e-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,
  8.43137401e-04, 4.28652994e-04,-4.90503291e+00, 9.74069946e-05,
  3.07977904e-02, 7.18594616e-03]


--- Step 2244 ---
qpos:
[-2.42291860e-03, 8.65488076e-01,-2.37381551e-02, 4.03983388e-04,
 -2.91513985e-03, 8.61567371e-01,-2.70486202e-02, 3.14650042e-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,
  7.18401684e-03,-4.26482441e-02, 7.93400221e-02, 7.00337847e-01,
 -8.79413611e-02,-7.02815570e-01,-8.85634882e-02]

qacc:
[-1.31920623e-01, 1.12067963e+00, 1.84876050e+00,-1.86308903e+01,
  3.81795406e-01,-1.71932228e+00, 8.24291591e+00,-1.87874100e+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,
  2.41812034e+00, 9.16144643e-01, 4.71893019e+00,-2.53140162e+00,
  1.20088822e+02, 9.24752047e+01]

qfrc_actuator:
[ 2.27719851e-03, 2.76883269e-02, 8.67696990e-03, 1.66168606e-03,
  1.35320155e-06, 2.76604352e-02, 8.77186714e-03, 1.65073873e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017699953493611135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54937311e-07,  5.74643975e-14,  1.00000000e+00, -4.91284575e-20,
        1.00000000e+00, -5.74643975e-14, -1.00000000e+00,  6.01853108e-36,
        8.54937311e-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([ 0.00015025, -0.04610281,  0.06183051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38641049e-05, 7.86706746e-05,-2.57211894e-05,-4.85994755e-05,
  6.89466946e-05,-3.56041660e-05,-7.35996259e-06,-3.32396315e-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,
  6.08895791e-04, 9.29334280e-04,-4.90508376e+00, 6.35914292e-05,
  3.08016164e-02, 7.18629690e-03]


--- Step 2245 ---
qpos:
[-2.42531806e-03, 8.65494642e-01,-2.37380861e-02, 4.03502501e-04,
 -2.91529738e-03, 8.61574166e-01,-2.70470018e-02, 3.14680410e-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,
  7.18803061e-03,-4.26620848e-02, 7.93462993e-02, 7.00451253e-01,
 -8.76578671e-02,-7.02700589e-01,-8.88595662e-02]

qacc:
[-2.23293964e-01,-2.07346520e+00, 1.17037423e+01,-2.78286150e+01,
  2.46946008e-01, 2.27155880e+00,-8.68288307e+00, 1.06616556e+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,
  2.37310333e+00, 1.00744717e+00, 3.46752365e+00,-3.01497263e+00,
  1.16011215e+02, 9.57982226e+01]

qfrc_actuator:
[ 2.24790762e-03, 2.76856989e-02, 8.68338167e-03, 1.61628153e-03,
  1.33231416e-05, 2.76213028e-02, 8.71369913e-03, 1.64895544e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017853133819124983
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10932253e-14, -6.21864506e-14,  1.00000000e+00,  1.93357732e-27,
        1.00000000e+00,  6.21864506e-14, -1.00000000e+00,  0.00000000e+00,
        3.10932253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00083162, -0.04684657,  0.06182912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06686954e-05, 3.38209960e-05, 1.77614450e-05,-4.38801130e-05,
  4.46859183e-05,-6.21666811e-05,-6.76560497e-05,-4.22641179e-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,
  7.95806652e-05, 2.71046783e-04,-4.90503517e+00,-1.22976703e-05,
  3.08000637e-02, 7.18813456e-03]


--- Step 2246 ---
qpos:
[-2.42772020e-03, 8.65501541e-01,-2.37382652e-02, 4.02848831e-04,
 -2.91534538e-03, 8.61580706e-01,-2.70464913e-02, 3.14847721e-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,
  7.20091754e-03,-4.26721427e-02, 7.93628800e-02, 7.00731976e-01,
 -8.74843427e-02,-7.02417644e-01,-8.90541464e-02]

qacc:
[-1.69426734e-03, 7.75815920e-01,-1.40028322e+00,-1.43664349e+00,
  5.71682775e-02, 5.57203750e+00,-2.61416247e+01, 5.18088851e+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,
  2.21828919e+00, 9.45731655e-01, 2.57585775e+00,-2.98213783e+00,
  1.08277502e+02, 8.89805146e+01]

qfrc_actuator:
[ 2.26705357e-03, 2.76990904e-02, 8.66932724e-03, 1.60752488e-03,
  2.53365789e-06, 2.76130171e-02, 8.66095434e-03, 1.71876418e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017808926873559144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.11704078e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.11704078e-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([-0.00083486, -0.04684627,  0.06182955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49024389e-07, 3.39366179e-05,-6.44892258e-06,-7.55568034e-06,
  1.04103874e-05,-5.73721897e-05,-7.41338142e-05, 6.47076875e-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,
  4.13159077e-05,-1.62489179e-04,-4.90501124e+00,-5.99985813e-05,
  3.07985568e-02, 7.18896386e-03]


--- Step 2247 ---
qpos:
[-2.42999352e-03, 8.65508874e-01,-2.37384216e-02, 4.02408343e-04,
 -2.91578302e-03, 8.61586829e-01,-2.70460321e-02, 3.15057502e-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,
  7.20085790e-03,-4.26758631e-02, 7.93645161e-02, 7.00739281e-01,
 -8.74116059e-02,-7.02409074e-01,-8.91356499e-02]

qacc:
[ 6.74364924e-02, 9.47782409e-01,-3.44868913e+00, 6.78406629e+00,
 -2.05117427e-01, 4.67039189e-01,-4.25690460e+00, 1.19957904e+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,
 -3.23664258e+00, 1.58433909e+00,-3.73614538e+00, 4.65813399e+00,
 -2.01592193e+02, 5.08395166e+01]

qfrc_actuator:
[ 2.27950361e-03, 2.77396716e-02, 8.67886765e-03, 1.62038866e-03,
 -3.94918210e-05, 2.76055828e-02, 8.66527319e-03, 1.74140588e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017826071033245489
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55702149e-14,  3.89255372e-14,  1.00000000e+00, -6.06078977e-28,
        1.00000000e+00, -3.89255372e-14, -1.00000000e+00,  0.00000000e+00,
        1.55702149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934368, -0.05887274,  0.06182949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23216284e-05, 5.77458928e-05, 1.54432977e-05, 1.39383832e-05,
 -3.70920626e-05,-5.22160717e-05,-1.44830128e-05, 1.88641560e-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,
  4.32364685e-04,-3.67418273e-04,-4.90501298e+00,-8.15697574e-05,
  3.07974629e-02, 7.18879589e-03]


--- Step 2248 ---
qpos:
[-2.43230446e-03, 8.65516534e-01,-2.37387081e-02, 4.02149017e-04,
 -2.91703950e-03, 8.61593109e-01,-2.70459857e-02, 3.15115151e-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,
  7.18879147e-03,-4.26737140e-02, 7.93494162e-02, 7.00493505e-01,
 -8.74322415e-02,-7.02654553e-01,-8.91124675e-02]

qacc:
[-1.99154682e-02, 1.16892613e+00,-4.30459684e+00, 7.40793713e+00,
 -4.31750905e-01,-1.77008160e+00, 1.30346350e+01,-3.88209778e+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,
 -3.00169894e+00, 1.46740287e+00,-4.18398067e+00, 4.31267210e+00,
 -1.86630940e+02, 4.70888681e+01]

qfrc_actuator:
[ 2.27005304e-03, 2.77430747e-02, 8.66688825e-03, 1.62815522e-03,
 -9.98035286e-05, 2.76344281e-02, 8.64995900e-03, 1.66513381e-03,
 -2.42132777e-03, 2.76573960e-02, 8.55020709e-03, 1.68622754e-03,
  0.00000000e+00,-1.45212001e-03, 0.00000000e+00,-7.22536278e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017846259910856768
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55526008e-14,  6.22104032e-14,  1.00000000e+00, -9.67533567e-28,
        1.00000000e+00, -6.22104032e-14, -1.00000000e+00,  0.00000000e+00,
        1.55526008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934032, -0.0588717 ,  0.06182933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58533685e-06, 3.93141375e-05, 2.27776433e-06, 1.10359508e-05,
 -7.79213041e-05,-2.69377277e-06,-2.72846203e-05,-7.86556984e-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,
  4.29127763e-08, 5.93296235e-08,-4.90499926e+00,-6.94463290e-05,
  3.07982426e-02, 7.18986963e-03]


--- Step 2249 ---
qpos:
[-2.43486865e-03, 8.65524420e-01,-2.37399307e-02, 4.02400122e-04,
 -2.91868133e-03, 8.61599691e-01,-2.70468078e-02, 3.15047674e-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,
  7.18644552e-03,-4.26671880e-02, 7.93491126e-02, 7.00430156e-01,
 -8.75711974e-02,-7.02716965e-01,-8.89817358e-02]

qacc:
[-1.33458214e-01, 3.96173579e+00,-1.58500903e+01, 2.60187768e+01,
 -2.03718405e-01, 2.49932627e-01, 4.97107487e+00,-2.54597033e+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,
  2.43012139e+00, 1.09421307e+00, 3.69904080e+00,-3.83809916e+00,
  1.18236834e+02, 9.53692292e+01]

qfrc_actuator:
[ 2.24757701e-03, 2.77241032e-02, 8.60663538e-03, 1.65056281e-03,
 -9.94913900e-05, 2.76491295e-02, 8.60549444e-03, 1.60230013e-03,
 -2.47183608e-03, 2.76692359e-02, 8.49416351e-03, 1.64705682e-03,
  0.00000000e+00,-1.38216931e-03, 0.00000000e+00,-7.01780679e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017805356828555635
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.67649863e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.67649863e-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([-0.00083538, -0.04684568,  0.0618296 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41961114e-05, 3.78053605e-06,-5.15265066e-05, 2.43749392e-05,
 -3.66665946e-05, 4.02941513e-06,-5.11551037e-05,-6.54338854e-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,
  3.76041022e-04,-8.18275606e-05,-4.90501380e+00,-6.42334380e-05,
  3.07993254e-02, 7.19010637e-03]


--- Step 2250 ---
qpos:
[-2.43805411e-03, 8.65532288e-01,-2.37412069e-02, 4.02543014e-04,
 -2.91993505e-03, 8.61606385e-01,-2.70481824e-02, 3.14940214e-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,
  7.19315627e-03,-4.26565875e-02, 7.93598894e-02, 7.00536606e-01,
 -8.78204676e-02,-7.02608959e-01,-8.87506590e-02]

qacc:
[-3.25853838e-01,-9.52769190e-02, 7.63958603e-01,-2.53870306e+00,
  2.04029613e-01, 8.65954007e-01,-1.18813386e+00,-4.92820755e+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,
  2.26417578e+00, 1.01862488e+00, 2.77014013e+00,-3.52389521e+00,
  1.10040961e+02, 8.89184989e+01]

qfrc_actuator:
[ 2.19976375e-03, 2.77271835e-02, 8.60703958e-03, 1.64584804e-03,
 -4.51582739e-05, 2.76551355e-02, 8.57966558e-03, 1.58337321e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017802232599475887
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11821289e-14, -6.23642579e-14,  1.00000000e+00,  1.94465033e-27,
        1.00000000e+00,  6.23642579e-14, -1.00000000e+00,  0.00000000e+00,
        3.11821289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00083577, -0.04684614,  0.06182963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93621270e-05,-4.57899591e-06,-4.37009167e-06,-5.87147100e-06,
  3.69338900e-05,-5.26341900e-06,-3.36084991e-05,-2.18057924e-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,
  1.45203293e-05,-4.42643030e-05,-4.90500911e+00,-5.62967453e-05,
  3.08002218e-02, 7.18973491e-03]


--- Step 2251 ---
qpos:
[-2.44144749e-03, 8.65540789e-01,-2.37427326e-02, 4.01521183e-04,
 -2.92047254e-03, 8.61612757e-01,-2.70497342e-02, 3.14848379e-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,
  7.20837808e-03,-4.26421588e-02, 7.93786064e-02, 7.00802232e-01,
 -8.81733763e-02,-7.02340858e-01,-8.84251491e-02]

qacc:
[-1.09479521e-01,-8.64756015e-01, 9.21277886e+00,-2.94362162e+01,
  3.77298269e-01, 3.91155360e-01,-2.67161606e+00, 5.89684962e+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,
  2.12776401e+00, 9.57055130e-01, 1.98501438e+00,-3.24137988e+00,
  1.03250345e+02, 8.35789505e+01]

qfrc_actuator:
[ 2.20822802e-03, 2.77969051e-02, 8.60782480e-03, 1.58976905e-03,
  5.46285279e-06, 2.76204897e-02, 8.56504960e-03, 1.59043944e-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: -0.0017629292535558394
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.14880198e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.14880198e-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([-0.00084845, -0.04684998,  0.06183122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98492261e-05, 6.58295333e-05,-9.51028468e-07,-5.65495711e-05,
  6.81495289e-05,-4.56074130e-05,-2.06397189e-05, 5.24600437e-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,
  1.16798837e-04, 1.90538730e-04,-4.90502993e+00,-2.31153848e-05,
  3.08017011e-02, 7.18822192e-03]


--- Step 2252 ---
qpos:
[-2.44468570e-03, 8.65549842e-01,-2.37439882e-02, 3.99463175e-04,
 -2.92053968e-03, 8.61618484e-01,-2.70510573e-02, 3.14836171e-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,
  7.21157083e-03,-4.26216841e-02, 7.93806208e-02, 7.00813861e-01,
 -8.86175084e-02,-7.02327466e-01,-8.79943204e-02]

qacc:
[ 8.12986659e-02,-2.15868889e+00, 1.31278768e+01,-3.18987777e+01,
  2.48180961e-01, 1.47342735e-01,-5.12480860e+00, 1.90152215e+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,
 -3.00726635e+00, 1.51150065e+00,-4.17563816e+00, 5.08355364e+00,
 -1.87123248e+02, 4.64796403e+01]

qfrc_actuator:
[ 2.23254131e-03, 2.78349579e-02, 8.62680851e-03, 1.53947659e-03,
  1.78681528e-05, 2.75795936e-02, 8.57475965e-03, 1.63045803e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017545393433554962
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.16385902e-14, -1.58192951e-14,  1.00000000e+00,  5.00500194e-28,
        1.00000000e+00,  1.58192951e-14, -1.00000000e+00,  0.00000000e+00,
        3.16385902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04939206, -0.05890097,  0.06183206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48437796e-05, 7.20609933e-05, 3.04546625e-05,-4.86144760e-05,
  4.47428356e-05,-7.05671838e-05,-2.10824776e-06, 3.74456073e-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,
  5.97690361e-04, 5.86740527e-04,-4.90507253e+00, 3.16659321e-05,
  3.08035351e-02, 7.18573452e-03]


--- Step 2253 ---
qpos:
[-2.44787058e-03, 8.65559153e-01,-2.37449488e-02, 3.97889905e-04,
 -2.92068132e-03, 8.61624004e-01,-2.70518291e-02, 3.14794969e-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,
  7.20093089e-03,-4.26046367e-02, 7.93633714e-02, 7.00562281e-01,
 -8.89356442e-02,-7.02574203e-01,-8.77065056e-02]

qacc:
[ 2.80903182e-02, 5.15055801e-01,-3.38659520e+00, 1.11135472e+01,
 -3.88332928e-02,-2.40768851e+00, 9.41514607e+00,-1.51664516e+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,
 -3.45816992e+00,-8.56841985e-01,-4.81595054e+00,-6.28882947e+00,
 -1.71699976e+02,-1.17464839e+02]

qfrc_actuator:
[ 2.23057883e-03, 2.78360854e-02, 8.63853897e-03, 1.56400392e-03,
 -1.04492813e-05, 2.76064106e-02, 8.61648305e-03, 1.61853499e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017515612263873104
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.16923841e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.16923841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05540136, -0.03500847,  0.06183233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10520405e-06, 4.54365113e-05, 2.86268025e-05, 2.77134567e-05,
 -7.09211328e-06,-1.15948414e-05, 2.81504451e-05,-1.42972827e-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,
  2.60868869e-05, 1.61213926e-04,-4.90506599e+00, 2.83620598e-05,
  3.08025724e-02, 7.18607594e-03]


--- Step 2254 ---
qpos:
[-2.45084367e-03, 8.65568504e-01,-2.37459356e-02, 3.97364137e-04,
 -2.92103595e-03, 8.61629968e-01,-2.70526213e-02, 3.14631676e-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,
  7.19332176e-03,-4.26031222e-02, 7.93519653e-02, 7.00405009e-01,
 -8.89428404e-02,-7.02729137e-01,-8.77140435e-02]

qacc:
[ 1.11089401e-01, 2.28224670e+00,-1.24828031e+01, 3.06255053e+01,
 -1.12434452e-01,-1.86915703e+00, 1.26694955e+01,-3.40951483e+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,
  7.57702329e-01,-3.88321742e+00, 1.46084359e+00, 5.33049777e+00,
  9.20555486e+01,-2.04467553e+02]

qfrc_actuator:
[ 2.24839593e-03, 2.78151297e-02, 8.62803174e-03, 1.61456405e-03,
 -2.73383922e-05, 2.76559216e-02, 8.62374230e-03, 1.55846204e-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: -0.0017831467459833161
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22620111e-14, -6.22620111e-14,  1.00000000e+00,  3.87655802e-27,
        1.00000000e+00,  6.22620111e-14, -1.00000000e+00,  0.00000000e+00,
        6.22620111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683034, -0.02185813,  0.06182945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02372025e-05, 1.13471504e-05, 3.30187069e-06, 5.40268164e-05,
 -2.02565672e-05, 4.81024259e-05, 7.80124502e-06,-5.98801294e-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,
  2.94918654e-04,-4.62081318e-04,-4.90506909e+00, 3.11876770e-05,
  3.08044774e-02, 7.18798121e-03]


--- Step 2255 ---
qpos:
[-2.45340701e-03, 8.65577042e-01,-2.37459852e-02, 3.96456189e-04,
 -2.92122220e-03, 8.61636325e-01,-2.70534093e-02, 3.14501673e-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,
  7.18852655e-03,-4.26159595e-02, 7.93430137e-02, 7.00334772e-01,
 -8.86625882e-02,-7.02799461e-01,-8.79947138e-02]

qacc:
[ 2.15740094e-01,-4.47625628e+00, 1.60182733e+01,-2.35383440e+01,
  8.85712504e-02, 1.19255117e+00,-4.90372780e+00, 1.03705166e+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,
  7.03477624e-01,-3.58793647e+00, 6.13590807e-01, 4.85589036e+00,
  8.49649198e+01,-1.89071030e+02]

qfrc_actuator:
[ 2.27790099e-03, 2.77277813e-02, 8.65764323e-03, 1.59122404e-03,
 -1.69695046e-06, 2.76829769e-02, 8.62842698e-03, 1.57706188e-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: -0.001796231652519631
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09042273e-14,  3.09042273e-14,  1.00000000e+00, -9.55071264e-28,
        1.00000000e+00, -3.09042273e-14, -1.00000000e+00,  0.00000000e+00,
        3.09042273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683537, -0.02187143,  0.06182824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.91342020e-05,-7.82118479e-05, 3.41686480e-05,-2.16997703e-05,
  1.60344891e-05, 5.28624222e-05, 1.34694323e-05, 1.97597774e-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,
  1.55485753e-04,-1.90870475e-05,-4.90500643e+00, 6.65706588e-05,
  3.08001213e-02, 7.18562135e-03]


--- Step 2256 ---
qpos:
[-2.45558181e-03, 8.65584995e-01,-2.37453961e-02, 3.95268212e-04,
 -2.92116715e-03, 8.61642938e-01,-2.70538015e-02, 3.14393936e-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,
  7.18636105e-03,-4.26421617e-02, 7.93336245e-02, 7.00345167e-01,
 -8.81144683e-02,-7.02790813e-01,-8.85299945e-02]

qacc:
[ 2.04343411e-01,-3.13414510e+00, 1.12342685e+01,-1.66738759e+01,
  1.27283932e-01,-3.07720084e-01, 6.49616442e-01, 2.38192428e+00,
  2.61217146e-01,-2.47769011e+00, 3.68084646e+00, 7.19527301e+00,
 -8.31744564e-02, 3.31000411e-01, 9.35112573e-01,-3.16907399e+00,
  6.57428986e-01,-3.34122749e+00,-1.09375718e-01, 4.42849515e+00,
  7.90598738e+01,-1.76236385e+02]

qfrc_actuator:
[ 2.29638350e-03, 2.77079493e-02, 8.69262023e-03, 1.57781252e-03,
  1.36613963e-05, 2.76964312e-02, 8.64930311e-03, 1.58854206e-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: -0.00178817588272491
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20869029e-14, -3.10434515e-14,  1.00000000e+00,  1.92739176e-27,
        1.00000000e+00,  3.10434515e-14, -1.00000000e+00,  0.00000000e+00,
        6.20869029e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683334, -0.02186354,  0.06182888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71108755e-05,-5.76301943e-05, 2.22183642e-05,-1.60134289e-05,
  2.29743415e-05, 4.64998412e-05, 3.40946848e-05, 1.45887745e-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,
  6.69011760e-05, 1.72030394e-04,-4.90501988e+00, 4.60357665e-05,
  3.08006169e-02, 7.18587182e-03]


--- Step 2257 ---
qpos:
[-2.45763468e-03, 8.65592647e-01,-2.37450834e-02, 3.94645951e-04,
 -2.92090245e-03, 8.61649664e-01,-2.70537829e-02, 3.14198959e-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,
  7.19359210e-03,-4.26642067e-02, 7.93386837e-02, 7.00535407e-01,
 -8.76826942e-02,-7.02601037e-01,-8.89588225e-02]

qacc:
[ 6.39060171e-02, 1.53921560e+00,-8.45304381e+00, 1.89080037e+01,
  1.10602769e-01,-2.79415143e+00, 1.38613126e+01,-2.97025486e+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,
  2.34913824e+00, 1.03929211e+00, 3.61209766e+00,-3.42830650e+00,
  1.16782588e+02, 9.41010081e+01]

qfrc_actuator:
[ 2.29035718e-03, 2.76932209e-02, 8.67748224e-03, 1.60591407e-03,
  2.27095966e-05, 2.76839517e-02, 8.66174828e-03, 1.54246962e-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: -0.0017895722581262566
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00800757e-06, -1.00800758e-06,  1.00000000e+00, -1.01607926e-12,
        1.00000000e+00,  1.00800758e-06, -1.00000000e+00,  0.00000000e+00,
       -1.00800757e-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([-0.00067216, -0.04672539,  0.06182869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16410821e-05,-4.32340375e-05,-2.49215708e-05, 2.60787188e-05,
  1.99569024e-05, 2.10376585e-05, 2.67063472e-05,-4.26246175e-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,
  1.88357023e-05, 1.62377158e-04,-4.90509338e+00,-2.25736507e-05,
  3.08048026e-02, 7.18830388e-03]


--- Step 2258 ---
qpos:
[-2.45928781e-03, 8.65599277e-01,-2.37449386e-02, 3.95142041e-04,
 -2.92048349e-03, 8.61655910e-01,-2.70527893e-02, 3.14023122e-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,
  7.20968592e-03,-4.26822989e-02, 7.93544119e-02, 7.00894434e-01,
 -8.73610871e-02,-7.02241304e-01,-8.92870841e-02]

qacc:
[ 2.09937981e-01, 1.42004335e+00,-1.17444417e+01, 3.21200898e+01,
  8.20545577e-02,-2.95976536e+00, 8.82942391e+00,-6.72783438e+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,
  2.21569108e+00, 9.88186783e-01, 2.66723785e+00,-3.41862258e+00,
  1.09516874e+02, 8.88856277e+01]

qfrc_actuator:
[ 2.32299464e-03, 2.75927402e-02, 8.65068764e-03, 1.65818975e-03,
  2.79068492e-05, 2.76382017e-02, 8.70446662e-03, 1.55163478e-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: -0.0017868395012205773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.10666689e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.10666689e-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([-0.00082961, -0.04684326,  0.06182895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81655693e-05,-1.28863818e-04,-3.79518830e-05, 5.00577288e-05,
  1.46717316e-05,-3.04525057e-05, 4.88275730e-05, 1.01534000e-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,
  1.25647818e-04,-4.19163327e-04,-4.90505813e+00,-8.80146316e-05,
  3.08011174e-02, 7.19023070e-03]


--- Step 2259 ---
qpos:
[-2.46016952e-03, 8.65604650e-01,-2.37449832e-02, 3.96984302e-04,
 -2.92033431e-03, 8.61661542e-01,-2.70511688e-02, 3.13932903e-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,
  7.21202523e-03,-4.26937021e-02, 7.93566257e-02, 7.00965137e-01,
 -8.71464766e-02,-7.02170780e-01,-8.94961645e-02]

qacc:
[ 4.04924556e-01, 1.64045651e+00,-1.39402213e+01, 3.84652287e+01,
 -1.41437231e-01,-7.99732580e-01,-1.94022624e+00, 1.62060072e+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,
 -3.43862707e+00, 1.67227260e+00,-3.37858436e+00, 4.66748345e+00,
 -2.12572425e+02, 5.38308068e+01]

qfrc_actuator:
[ 2.37850378e-03, 2.75126607e-02, 8.63465368e-03, 1.72419097e-03,
 -4.74020113e-06, 2.75907879e-02, 8.72911518e-03, 1.59322763e-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: -0.00181974264525004
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52524730e-14,  7.62623651e-15,  1.00000000e+00, -1.16318967e-28,
        1.00000000e+00, -7.62623651e-15, -1.00000000e+00,  0.00000000e+00,
        1.52524730e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04927761, -0.05885033,  0.06182616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.36734697e-05,-1.57982953e-04,-4.56449264e-05, 6.01305939e-05,
 -2.56883088e-05,-5.40761126e-05, 2.46719106e-05, 4.21673984e-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,
  6.59252478e-04,-7.66687237e-04,-4.90505012e+00,-1.27046240e-04,
  3.07979923e-02, 7.19100053e-03]


--- Step 2260 ---
qpos:
[-2.46052210e-03, 8.65609127e-01,-2.37452770e-02, 3.98179789e-04,
 -2.92051789e-03, 8.61666713e-01,-2.70500799e-02, 3.13899378e-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,
  7.20168756e-03,-4.26989439e-02, 7.93433177e-02, 7.00770461e-01,
 -8.70302937e-02,-7.02366808e-01,-8.95955172e-02]

qacc:
[ 2.77605764e-01,-1.82000436e+00, 7.50014132e+00,-1.76365693e+01,
 -1.75425169e-01, 2.04163075e+00,-1.05576030e+01, 2.15609471e+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,
 -3.16924318e+00, 1.54035439e+00,-3.88044431e+00, 4.39088798e+00,
 -1.95777565e+02, 4.95244328e+01]

qfrc_actuator:
[ 2.39394648e-03, 2.74809698e-02, 8.62516484e-03, 1.69123657e-03,
 -2.42262410e-05, 2.75427031e-02, 8.68962216e-03, 1.61803052e-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: -0.0018340905786129458
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.26997314e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.26997314e-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([ 0.04925375, -0.05883963,  0.06182492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.05336681e-05,-1.27002652e-04,-4.57046933e-05,-4.01430675e-05,
 -3.16855361e-05,-7.15706596e-05,-4.62175998e-05, 2.41518036e-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,
  1.37694745e-05,-6.80356928e-05,-4.90501624e+00,-1.06963155e-04,
  3.07983524e-02, 7.19117356e-03]


--- Step 2261 ---
qpos:
[-2.46071328e-03, 8.65612793e-01,-2.37445980e-02, 3.97838412e-04,
 -2.92079298e-03, 8.61671840e-01,-2.70496412e-02, 3.13856817e-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,
  7.17959331e-03,-4.26984729e-02, 7.93127563e-02, 7.00329376e-01,
 -8.70052990e-02,-7.02810020e-01,-8.95930755e-02]

qacc:
[ 8.54533797e-02,-6.95063842e+00, 2.97164672e+01,-5.72785938e+01,
 -4.85987377e-02, 1.57102389e+00,-5.30546020e+00, 4.81590360e+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,
 -2.93914752e+00, 1.42818604e+00,-4.31338402e+00, 4.14829038e+00,
 -1.81659307e+02, 4.58961682e+01]

qfrc_actuator:
[ 2.38528301e-03, 2.74784550e-02, 8.69074901e-03, 1.61811590e-03,
 -1.78921372e-05, 2.75653182e-02, 8.66580973e-03, 1.61495356e-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: -0.001824868955416642
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56288801e-14, -7.60481336e-15,  1.00000000e+00,  3.46999117e-28,
        1.00000000e+00,  7.60481336e-15, -1.00000000e+00,  0.00000000e+00,
        4.56288801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04926819, -0.05884616,  0.06182564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54037766e-05,-8.47902731e-05, 3.22987811e-05,-8.09332006e-05,
 -8.71279480e-06,-2.60519197e-05,-4.35008861e-05,-7.28103840e-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,
  2.75283656e-04, 1.08931573e-04,-4.90501633e+00,-9.67241327e-05,
  3.07990884e-02, 7.19062922e-03]


--- Step 2262 ---
qpos:
[-2.46106800e-03, 8.65615739e-01,-2.37434823e-02, 3.96992714e-04,
 -2.92125652e-03, 8.61677303e-01,-2.70491735e-02, 3.13766611e-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,
  7.16793489e-03,-4.26931076e-02, 7.93011595e-02, 7.00084338e-01,
 -8.71060437e-02,-7.03056316e-01,-8.94777857e-02]

qacc:
[-8.52582281e-02,-3.20649247e+00, 1.21853739e+01,-2.10865706e+01,
 -9.93929917e-02,-6.17677036e-01, 4.85819271e+00,-1.33985278e+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,
  2.60895793e+00, 1.22356826e+00, 4.74116866e+00,-4.66672008e+00,
  1.27303263e+02, 1.01049508e+02]

qfrc_actuator:
[ 2.36231193e-03, 2.74404617e-02, 8.71149171e-03, 1.59305480e-03,
 -3.16793725e-05, 2.76301206e-02, 8.68724217e-03, 1.59557920e-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: -0.0018284167104077875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03602297e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.03602297e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.000799  , -0.04683873,  0.06182514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56452369e-05,-8.22921926e-05, 4.37534014e-06,-2.91570771e-05,
 -1.79249935e-05, 4.08120461e-05, 1.03968793e-05,-2.21454638e-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,
  1.25233286e-03,-1.26570166e-04,-4.90504166e+00,-9.27009115e-05,
  3.08002014e-02, 7.18943617e-03]


--- Step 2263 ---
qpos:
[-2.46164266e-03, 8.65618945e-01,-2.37439423e-02, 3.95867075e-04,
 -2.92170674e-03, 8.61683002e-01,-2.70481738e-02, 3.13616963e-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,
  7.16591333e-03,-4.26832525e-02, 7.93041399e-02, 7.00020385e-01,
 -8.73232909e-02,-7.03121014e-01,-8.92577378e-02]

qacc:
[-1.16435090e-01, 4.16528760e+00,-1.31765236e+01, 1.06663732e+01,
  7.23049073e-03,-2.39484903e+00, 1.15037699e+01,-2.28190108e+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,
  2.40921671e+00, 1.12245967e+00, 3.64430729e+00,-4.19308553e+00,
  1.17448640e+02, 9.36343727e+01]

qfrc_actuator:
[ 2.34876930e-03, 2.74701761e-02, 8.63446579e-03, 1.57865902e-03,
 -2.19005947e-05, 2.76488626e-02, 8.71764971e-03, 1.56684866e-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: -0.0018443403993599963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.00981051e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.00981051e-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([-0.00078773, -0.04683714,  0.06182369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10177162e-05,-1.67258700e-05,-9.45220959e-05,-1.83416656e-05,
  1.27652292e-06, 4.26262858e-05, 3.93053565e-05,-2.70608644e-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,
  3.46213610e-04,-2.07581450e-04,-4.90501040e+00,-1.00558145e-04,
  3.07999567e-02, 7.19076830e-03]


--- Step 2264 ---
qpos:
[-2.46221773e-03, 8.65622332e-01,-2.37452044e-02, 3.95569396e-04,
 -2.92190066e-03, 8.61688968e-01,-2.70467738e-02, 3.13365484e-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,
  7.17287016e-03,-4.26692363e-02, 7.93179872e-02, 7.00124950e-01,
 -8.76493290e-02,-7.03016640e-01,-8.89396052e-02]

qacc:
[-7.37757790e-04, 4.18364678e+00,-1.80650635e+01, 3.35468485e+01,
  1.35108443e-01,-2.86155279e+00, 1.50123755e+01,-3.34748733e+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,
  2.24459572e+00, 1.04026131e+00, 2.71671895e+00,-3.78285481e+00,
  1.09283797e+02, 8.74799879e+01]

qfrc_actuator:
[ 2.35875818e-03, 2.75043199e-02, 8.60713232e-03, 1.62389766e-03,
  1.89140901e-06, 2.76576859e-02, 8.73517521e-03, 1.51506031e-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: -0.0018394381549782651
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01783189e-14, -6.03566378e-14,  1.00000000e+00,  1.82146186e-27,
        1.00000000e+00,  6.03566378e-14, -1.00000000e+00,  0.00000000e+00,
        3.01783189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079156, -0.04683944,  0.06182415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77550215e-08, 4.41134715e-06,-4.30871465e-05, 4.08916184e-05,
  2.44030287e-05, 3.94752469e-05, 3.01842639e-05,-4.91366096e-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,
  9.67521067e-06,-5.98430535e-05,-4.90501032e+00,-7.94794034e-05,
  3.08007112e-02, 7.19059519e-03]


--- Step 2265 ---
qpos:
[-2.46291363e-03, 8.65625351e-01,-2.37457982e-02, 3.96128831e-04,
 -2.92201019e-03, 8.61695015e-01,-2.70453885e-02, 3.13128252e-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,
  7.18826464e-03,-4.26513255e-02, 7.93395666e-02, 7.00387465e-01,
 -8.80777208e-02,-7.02753407e-01,-8.85288746e-02]

qacc:
[-6.27663180e-02,-5.88974280e-01,-2.22389482e+00, 1.62582379e+01,
  4.44201506e-02, 4.42239005e-01,-2.02106118e+00, 4.45021380e+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,
  2.10941248e+00, 9.73674321e-01, 1.93303340e+00,-3.42355324e+00,
  1.02520999e+02, 8.23791172e+01]

qfrc_actuator:
[ 2.34722914e-03, 2.74878369e-02, 8.64497624e-03, 1.66841577e-03,
 -1.66223969e-06, 2.76426820e-02, 8.72713773e-03, 1.52110946e-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: -0.0018178396819660755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05368795e-14, -3.05368795e-14,  1.00000000e+00,  9.32501007e-28,
        1.00000000e+00,  3.05368795e-14, -1.00000000e+00,  0.00000000e+00,
        3.05368795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080741, -0.04684485,  0.06182613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15526620e-05,-2.12323425e-05, 3.48460390e-05, 4.40091156e-05,
  8.03374728e-06, 1.10514698e-05, 2.07858716e-06, 7.82069438e-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,
  1.27890573e-04, 2.71379284e-04,-4.90503476e+00,-3.41356103e-05,
  3.08021322e-02, 7.18919278e-03]


--- Step 2266 ---
qpos:
[-2.46373611e-03, 8.65628767e-01,-2.37462151e-02, 3.96806345e-04,
 -2.92228853e-03, 8.61700727e-01,-2.70442470e-02, 3.13045292e-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,
  7.21160057e-03,-4.26298060e-02, 7.93664130e-02, 7.00798212e-01,
 -8.86013509e-02,-7.02340447e-01,-8.80316085e-02]

qacc:
[-6.64050168e-02, 2.74523508e-01,-7.13957036e-01, 2.18174733e+00,
 -8.88670383e-02, 3.41147596e+00,-1.93213092e+01, 4.66617148e+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,
  1.98536327e+00, 9.02153022e-01, 1.31673757e+00,-3.04503636e+00,
  9.64923327e+01, 7.69240102e+01]

qfrc_actuator:
[ 2.34066258e-03, 2.75479714e-02, 8.66751915e-03, 1.67663597e-03,
 -2.15538833e-05, 2.75957063e-02, 8.70401724e-03, 1.59661293e-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: -0.0017829434750978885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84926537e-07, -8.84926474e-07,  1.00000000e+00, -7.83094920e-13,
        1.00000000e+00,  8.84926474e-07, -1.00000000e+00,  0.00000000e+00,
       -8.84926537e-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([-0.00067678, -0.04673522,  0.06182932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20837913e-05, 5.72760494e-05, 2.39547760e-05, 9.36910532e-06,
 -1.60774221e-05,-4.01829905e-05,-2.03667180e-05, 7.61932198e-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,
  6.17456510e-04, 7.53472656e-04,-4.90508029e+00, 3.20441970e-05,
  3.08039449e-02, 7.18676242e-03]


--- Step 2267 ---
qpos:
[-2.46447036e-03, 8.65633078e-01,-2.37468892e-02, 3.97542263e-04,
 -2.92295666e-03, 8.61705915e-01,-2.70430198e-02, 3.13122702e-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,
  7.21959599e-03,-4.26120356e-02, 7.93761717e-02, 7.00917305e-01,
 -8.89841995e-02,-7.02215603e-01,-8.76925972e-02]

qacc:
[ 4.58005573e-02, 2.01897673e+00,-5.73256174e+00, 6.49965725e+00,
 -2.04978941e-01, 2.36870127e+00,-1.62196456e+01, 4.42244614e+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,
 -3.83512752e+00,-9.37246793e-01,-4.27190334e+00,-6.48335257e+00,
 -1.90168230e+02,-1.30491750e+02]

qfrc_actuator:
[ 2.35488022e-03, 2.76179520e-02, 8.66335279e-03, 1.68122623e-03,
 -5.10288750e-05, 2.75654373e-02, 8.70758736e-03, 1.67682648e-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: -0.0017626056149813787
  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([ 0.05537788, -0.03502138,  0.06183125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.45650875e-06, 1.07278407e-04, 1.09146619e-05, 8.04997642e-06,
 -3.71115840e-05,-5.38272282e-05,-4.65378027e-06, 7.92614302e-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,
  1.41176154e-03, 1.35555167e-03,-4.90514473e+00, 1.15992302e-04,
  3.08058462e-02, 7.18347760e-03]


--- Step 2268 ---
qpos:
[-2.46525661e-03, 8.65638224e-01,-2.37475861e-02, 3.97627340e-04,
 -2.92399030e-03, 8.61710435e-01,-2.70419215e-02, 3.13299039e-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,
  7.21346152e-03,-4.25977398e-02, 7.93671029e-02, 7.00768469e-01,
 -8.92384333e-02,-7.02356000e-01,-8.74991624e-02]

qacc:
[-2.76133412e-02,-1.72199238e-01, 4.96322482e+00,-1.68045973e+01,
 -1.92305520e-01, 1.51175208e+00,-1.08501440e+01, 2.86713723e+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,
 -3.53247358e+00,-8.68671211e-01,-4.70688953e+00,-6.32976510e+00,
 -1.74911963e+02,-1.19725117e+02]

qfrc_actuator:
[ 2.34589892e-03, 2.76576799e-02, 8.66127701e-03, 1.64814571e-03,
 -6.82127443e-05, 2.75100091e-02, 8.69143438e-03, 1.72368275e-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([ 8.63636364, -7.27618664,  4.65229887, -7.27618664, 29.08616261,
       31.98344696,  4.65229887, 31.98344696, 58.65841425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001785336440728924
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21856474e-14,  3.10928237e-14,  1.00000000e+00, -1.93352737e-27,
        1.00000000e+00, -3.10928237e-14, -1.00000000e+00,  0.00000000e+00,
        6.21856474e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05533405, -0.03503186,  0.06182931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94541853e-06, 1.02219468e-04, 2.16746668e-05,-2.79572170e-05,
 -3.48058645e-05,-8.32326366e-05,-2.51512690e-05, 4.59217721e-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,
  1.75122148e-04, 3.49902370e-04,-4.90508550e+00, 7.65544633e-05,
  3.08066832e-02, 7.18370838e-03]


--- Step 2269 ---
qpos:
[-2.46649208e-03, 8.65644227e-01,-2.37486239e-02, 3.97680136e-04,
 -2.92511258e-03, 8.61714396e-01,-2.70412942e-02, 3.13496647e-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,
  7.21015504e-03,-4.25986167e-02, 7.93620991e-02, 7.00710884e-01,
 -8.91959733e-02,-7.02408040e-01,-8.75858480e-02]

qacc:
[-2.36087033e-01, 2.01709109e+00,-5.41383561e+00, 4.77223874e+00,
 -4.67802670e-02, 1.01520589e+00,-5.58837078e+00, 1.04345074e+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,
  7.07000005e-01,-3.79317986e+00, 1.01624123e+00, 5.79061724e+00,
  8.84835729e+01,-1.94407376e+02]

qfrc_actuator:
[ 2.30535059e-03, 2.76967095e-02, 8.64257134e-03, 1.64640651e-03,
 -6.01376787e-05, 2.74753459e-02, 8.66362810e-03, 1.73274498e-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: -0.0017932565615972479
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16083120e-14, -6.19109975e-14,  1.00000000e+00,  7.18682177e-28,
        1.00000000e+00,  6.19109975e-14, -1.00000000e+00,  0.00000000e+00,
        1.16083120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683702, -0.02187256,  0.06182856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29035644e-05, 9.93519281e-05, 4.07421626e-06, 2.83884797e-06,
 -8.45555847e-06,-8.45560562e-05,-4.65522018e-05, 5.50930379e-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,
  9.77806131e-05,-1.86111166e-04,-4.90506417e+00, 6.99014382e-05,
  3.08054137e-02, 7.18690668e-03]


--- Step 2270 ---
qpos:
[-2.46837413e-03, 8.65650558e-01,-2.37491020e-02, 3.97717104e-04,
 -2.92622090e-03, 8.61718239e-01,-2.70409334e-02, 3.13661939e-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,
  7.20949599e-03,-4.26135342e-02, 7.93580368e-02, 7.00737711e-01,
 -8.88779447e-02,-7.02378214e-01,-8.79330241e-02]

qacc:
[-3.38816107e-01,-1.16119415e+00, 4.83843974e+00,-6.25101528e+00,
  7.20873955e-03,-7.77016884e-02, 1.41298201e+00,-6.49180856e+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,
  6.61854803e-01,-3.51013332e+00, 2.35372372e-01, 5.24112669e+00,
  8.20130246e+01,-1.80697468e+02]

qfrc_actuator:
[ 2.26403268e-03, 2.76994594e-02, 8.66747290e-03, 1.64536124e-03,
 -5.47905392e-05, 2.75065560e-02, 8.66472856e-03, 1.71951162e-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: -0.0017947673498509703
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09294412e-14,  3.09294412e-14,  1.00000000e+00, -9.56630334e-28,
        1.00000000e+00, -3.09294412e-14, -1.00000000e+00,  0.00000000e+00,
        3.09294412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683872, -0.02187245,  0.0618284 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17715126e-05, 5.91316869e-05, 4.59834628e-05, 3.40014207e-06,
  1.32387775e-06,-2.55538105e-05,-2.19468726e-05,-1.83694847e-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,
  2.75295473e-05, 2.28625468e-05,-4.90499335e+00, 8.09320503e-05,
  3.07978484e-02, 7.18460699e-03]


--- Step 2271 ---
qpos:
[-2.47081197e-03, 8.65656945e-01,-2.37491186e-02, 3.98128829e-04,
 -2.92728428e-03, 8.61721820e-01,-2.70405239e-02, 3.13740564e-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,
  7.21132981e-03,-4.26415489e-02, 7.93522524e-02, 7.00842936e-01,
 -8.83019637e-02,-7.02271592e-01,-8.85243059e-02]

qacc:
[-2.91155353e-01,-4.43425889e-01, 1.07135544e-01, 5.59818347e+00,
  2.37412300e-02,-2.26509866e+00, 1.12335443e+01,-2.61207482e+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,
  6.23218219e-01,-3.27432222e+00,-4.30509959e-01, 4.75873388e+00,
  7.66285694e+01,-1.69257526e+02]

qfrc_actuator:
[ 2.24038270e-03, 2.76806270e-02, 8.68226922e-03, 1.66248142e-03,
 -5.11473052e-05, 2.74883110e-02, 8.66540448e-03, 1.67559907e-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: -0.001777458770957016
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73267983e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.73267983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683404, -0.02185389,  0.06182988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.31053771e-05, 2.37254564e-05, 3.27479595e-05, 2.13031424e-05,
  4.26898137e-06,-3.79508074e-05,-7.97736032e-06,-4.61333843e-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,
  7.26433497e-07, 1.35975896e-05,-4.90499588e+00, 4.07600605e-05,
  3.07953348e-02, 7.18486970e-03]


--- Step 2272 ---
qpos:
[-2.47309233e-03, 8.65663386e-01,-2.37497009e-02, 3.98469875e-04,
 -2.92829925e-03, 8.61725400e-01,-2.70404804e-02, 3.13696390e-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,
  7.19965860e-03,-4.26630184e-02, 7.93325786e-02, 7.00662499e-01,
 -8.78332999e-02,-7.02450619e-01,-8.89972015e-02]

qacc:
[ 8.22048852e-02, 1.50471389e+00,-4.96526207e+00, 4.60928913e+00,
  2.52034497e-02,-1.50471416e+00, 1.05489517e+01,-3.12174813e+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,
 -3.37625521e+00, 1.63632803e+00,-3.47235057e+00, 3.99451865e+00,
 -2.10380612e+02, 5.39123662e+01]

qfrc_actuator:
[ 2.28075922e-03, 2.76489866e-02, 8.63761884e-03, 1.65461135e-03,
 -4.85629700e-05, 2.74938417e-02, 8.64786430e-03, 1.61395177e-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: -0.0017877622713323577
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55253168e-14, -1.55253168e-14,  1.00000000e+00,  2.41035462e-28,
        1.00000000e+00,  1.55253168e-14, -1.00000000e+00,  0.00000000e+00,
        1.55253168e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04932585, -0.05888685,  0.06182893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50476157e-05,-1.08509926e-05,-3.50266012e-05,-5.31480010e-06,
  4.60664391e-06,-1.94039594e-05,-2.79905588e-05,-6.44545054e-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,
  8.60135721e-06,-1.71244284e-04,-4.90505734e+00,-4.39491848e-05,
  3.07966751e-02, 7.18727265e-03]


--- Step 2273 ---
qpos:
[-2.47522133e-03, 8.65669370e-01,-2.37500035e-02, 3.98376926e-04,
 -2.92927100e-03, 8.61729067e-01,-2.70407864e-02, 3.13646472e-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,
  7.17553069e-03,-4.26784488e-02, 7.92970500e-02, 7.00218650e-01,
 -8.74630766e-02,-7.02893062e-01,-8.93610396e-02]

qacc:
[ 7.96786462e-02,-2.27769949e+00, 9.07790387e+00,-1.67020394e+01,
  2.25023846e-02, 9.72582820e-01,-3.05885426e+00, 2.56096634e+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,
 -3.11417904e+00, 1.50975671e+00,-3.96370178e+00, 3.97044846e+00,
 -1.93969580e+02, 4.94912107e+01]

qfrc_actuator:
[ 2.28805015e-03, 2.76096413e-02, 8.64690624e-03, 1.63204266e-03,
 -4.66354384e-05, 2.75134808e-02, 8.63754244e-03, 1.61338215e-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: -0.0017992495656811228
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54261955e-14,  2.31392933e-14,  1.00000000e+00, -3.56951263e-28,
        1.00000000e+00, -2.31392933e-14, -1.00000000e+00,  0.00000000e+00,
        1.54261955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04930376, -0.05887653,  0.06182779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44510485e-05,-5.30170367e-05, 2.50191868e-06,-2.43585578e-05,
  4.11294377e-06, 1.62121663e-07,-2.00370322e-05,-3.62921330e-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,
  3.47926261e-04, 6.52603354e-04,-4.90505474e+00,-1.67658097e-05,
  3.07986890e-02, 7.18886679e-03]


--- Step 2274 ---
qpos:
[-2.47741032e-03, 8.65674883e-01,-2.37501811e-02, 3.98372258e-04,
 -2.93001969e-03, 8.61732386e-01,-2.70403066e-02, 3.13732014e-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,
  7.16216171e-03,-4.26890703e-02, 7.92824287e-02, 6.99977258e-01,
 -8.72243082e-02,-7.03132082e-01,-8.96048692e-02]

qacc:
[-3.12119397e-02,-7.88826242e-01, 1.53779574e+00, 1.35469339e-01,
  1.18191295e-01, 1.32201599e-01,-6.85836894e+00, 2.93017299e+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,
  2.68973614e+00, 1.20221724e+00, 5.22680963e+00,-4.08227557e+00,
  1.31251399e+02, 1.06157345e+02]

qfrc_actuator:
[ 2.27543286e-03, 2.75839148e-02, 8.65243186e-03, 1.63655166e-03,
 -2.73635113e-05, 2.75059923e-02, 8.68493935e-03, 1.68428504e-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: -0.0018409839384168486
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01529797e-14, -3.01529797e-14,  1.00000000e+00,  9.09202182e-28,
        1.00000000e+00,  3.01529797e-14, -1.00000000e+00,  0.00000000e+00,
        3.01529797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079215, -0.04683095,  0.06182392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.74611648e-06,-5.60327958e-05,-6.00205062e-06, 1.84194300e-06,
  2.12244332e-05,-1.17757252e-05, 4.48100464e-05, 7.01412370e-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,
  1.49957462e-03, 9.52940982e-04,-4.90508160e+00,-1.41590407e-06,
  3.08011654e-02, 7.18986641e-03]


--- Step 2275 ---
qpos:
[-2.47914045e-03, 8.65680149e-01,-2.37503831e-02, 3.98402885e-04,
 -2.93053925e-03, 8.61735373e-01,-2.70392004e-02, 3.13902654e-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,
  7.15869496e-03,-4.26952761e-02, 7.92840252e-02, 6.99922413e-01,
 -8.71065009e-02,-7.03184241e-01,-8.97384920e-02]

qacc:
[ 2.40689641e-01,-1.85992696e-01, 4.00097336e-02, 7.91648642e-01,
  1.21240475e-01,-4.35487488e-01,-2.67475235e+00, 1.66440215e+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,
  2.47555446e+00, 1.10395584e+00, 4.05446534e+00,-3.82624663e+00,
  1.20757364e+02, 9.76041727e+01]

qfrc_actuator:
[ 2.32203198e-03, 2.75843087e-02, 8.65574335e-03, 1.63920596e-03,
 -1.56347219e-05, 2.74826285e-02, 8.71271404e-03, 1.72567185e-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: -0.0018653924722861065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97584300e-14, -5.95168599e-14,  1.00000000e+00,  1.77112831e-27,
        1.00000000e+00,  5.95168599e-14, -1.00000000e+00,  0.00000000e+00,
        2.97584300e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077483, -0.04682631,  0.06182171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.38414600e-05,-3.22248784e-05,-8.97704299e-06, 7.44421349e-08,
  2.17997499e-05,-1.77713548e-05, 3.32597832e-05, 4.37912248e-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,
  4.56912314e-04, 3.56524796e-04,-4.90502222e+00,-6.71043401e-05,
  3.08000172e-02, 7.19154080e-03]


--- Step 2276 ---
qpos:
[-2.48035483e-03, 8.65684489e-01,-2.37496674e-02, 3.98141481e-04,
 -2.93106178e-03, 8.61737673e-01,-2.70380376e-02, 3.14061149e-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,
  7.16442433e-03,-4.26973894e-02, 7.92978739e-02, 7.00040768e-01,
 -8.71009168e-02,-7.03063089e-01,-8.97699641e-02]

qacc:
[ 2.71332823e-01,-4.38563425e+00, 1.50977404e+01,-2.09432194e+01,
 -1.28441270e-03,-1.31532973e+00, 3.88564405e+00,-5.57424825e+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,
  2.29903373e+00, 1.02310806e+00, 3.06304011e+00,-3.59120349e+00,
  1.12063049e+02, 9.05251389e+01]

qfrc_actuator:
[ 2.35040818e-03, 2.75115766e-02, 8.69333091e-03, 1.62301248e-03,
 -2.62797224e-05, 2.73966039e-02, 8.69305532e-03, 1.71380553e-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: -0.0018671248885155228
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97308185e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.97308185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077399, -0.04682623,  0.06182159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92633134e-05,-9.27171646e-05, 2.97895157e-05,-1.78912896e-05,
 -3.01138715e-07,-8.72972245e-05,-1.77506567e-05,-1.06332023e-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,
  2.95786760e-05, 5.05460452e-05,-4.90499809e+00,-9.97204023e-05,
  3.07997972e-02, 7.19187127e-03]


--- Step 2277 ---
qpos:
[-2.48114333e-03, 8.65687803e-01,-2.37486076e-02, 3.97051235e-04,
 -2.93146418e-03, 8.61739634e-01,-2.70368809e-02, 3.14096673e-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,
  7.17876998e-03,-4.26956754e-02, 7.93206244e-02, 7.00321112e-01,
 -8.72002736e-02,-7.02779698e-01,-8.97059018e-02]

qacc:
[ 2.23844728e-01,-4.02301287e+00, 1.58746409e+01,-3.00169034e+01,
  6.33172716e-02,-2.95942125e+00, 1.50954220e+01,-3.61223425e+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,
  2.15406714e+00, 9.56808565e-01, 2.22546705e+00,-3.37550951e+00,
  1.04860553e+02, 8.46655017e+01]

qfrc_actuator:
[ 2.36761020e-03, 2.74312509e-02, 8.69729385e-03, 1.57807090e-03,
 -1.47033068e-05, 2.73977395e-02, 8.69851358e-03, 1.65286672e-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: -0.001850623682266954
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99959153e-14,  2.99959153e-14,  1.00000000e+00, -8.99754935e-28,
        1.00000000e+00, -2.99959153e-14, -1.00000000e+00,  0.00000000e+00,
        2.99959153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007863 , -0.04682977,  0.06182312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06678282e-05,-1.26885067e-04,-1.21742882e-05,-4.82383768e-05,
  1.14230788e-05,-5.18671631e-05,-1.51558338e-05,-6.55075117e-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,
  8.90136966e-05,-2.55887892e-05,-4.90500073e+00,-1.05007695e-04,
  3.08002875e-02, 7.19106210e-03]


--- Step 2278 ---
qpos:
[-2.48180606e-03, 8.65690228e-01,-2.37472701e-02, 3.95763588e-04,
 -2.93154928e-03, 8.61741841e-01,-2.70359839e-02, 3.14053027e-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,
  7.20125772e-03,-4.26903508e-02, 7.93494495e-02, 7.00754021e-01,
 -8.73985029e-02,-7.02343074e-01,-8.95517248e-02]

qacc:
[ 6.64301260e-02,-2.35367603e+00, 7.52480893e+00,-1.07348347e+01,
  1.66821962e-01,-5.79586045e-01, 5.87995725e+00,-1.93477653e+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,
  2.03552148e+00, 9.02676984e-01, 1.51864649e+00,-3.17702624e+00,
  9.89021862e+01, 7.98213559e+01]

qfrc_actuator:
[ 2.36023866e-03, 2.74000991e-02, 8.71679392e-03, 1.56979200e-03,
  1.00840579e-05, 2.74510975e-02, 8.70132959e-03, 1.61689917e-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: -0.001819616602189593
  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([-0.00080902, -0.04683618,  0.06182598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19952037e-05,-1.06763117e-04,-9.90781175e-06,-1.50801093e-05,
  3.02040738e-05, 1.83635275e-05,-1.20560154e-05,-3.99946105e-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,
  5.42081363e-04, 8.40702384e-05,-4.90502546e+00,-8.71934527e-05,
  3.08012944e-02, 7.18926767e-03]


--- Step 2279 ---
qpos:
[-2.48245332e-03, 8.65692352e-01,-2.37462964e-02, 3.95045632e-04,
 -2.93151565e-03, 8.61744216e-01,-2.70356589e-02, 3.13969689e-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,
  7.21094547e-03,-4.26785230e-02, 7.93631610e-02, 7.00915940e-01,
 -8.76922051e-02,-7.02178772e-01,-8.92854654e-02]

qacc:
[ 8.01602149e-03, 1.78902169e+00,-9.36368904e+00, 2.00284107e+01,
  6.20950931e-02, 1.00240049e+00,-1.57722333e+00,-4.49932269e+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,
 -3.19999491e+00, 1.62576779e+00,-3.77842419e+00, 6.26015145e+00,
 -1.99752325e+02, 4.87643809e+01]

qfrc_actuator:
[ 2.35600536e-03, 2.74164754e-02, 8.71003971e-03, 1.60096341e-03,
  7.04751160e-06, 2.74465767e-02, 8.66731083e-03, 1.59596824e-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: -0.0018123516413095717
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.82866865e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.82866865e-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([ 0.04928103, -0.05887714,  0.06182678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46707553e-06,-4.60792709e-05,-3.05740327e-05, 2.59577056e-05,
  1.13028236e-05, 1.48888755e-06,-3.31202829e-05,-2.13445872e-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,
  1.32139230e-03, 3.47503016e-04,-4.90507015e+00,-4.93916166e-05,
  3.08026407e-02, 7.18660329e-03]


--- Step 2280 ---
qpos:
[-2.48293157e-03, 8.65694656e-01,-2.37462188e-02, 3.94335236e-04,
 -2.93125922e-03, 8.61746938e-01,-2.70358483e-02, 3.13824675e-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,
  7.20874709e-03,-4.26606915e-02, 7.93599924e-02, 7.00826921e-01,
 -8.80752589e-02,-7.02266650e-01,-8.89152852e-02]

qacc:
[ 8.79963486e-02, 2.75590145e+00,-9.51405437e+00, 1.09485675e+01,
  1.16861302e-01, 6.25076350e-01, 1.03947614e+00,-1.11448949e+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,
 -2.97153332e+00, 1.50096348e+00,-4.22001172e+00, 5.42680274e+00,
 -1.85025488e+02, 4.55306102e+01]

qfrc_actuator:
[ 2.37146764e-03, 2.74433856e-02, 8.67031070e-03, 1.60185900e-03,
  2.28935185e-05, 2.74783185e-02, 8.64711291e-03, 1.56622857e-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([ 8.63636364, -4.54312793,  7.34484618, -4.54312793, 70.34542112,
       38.16991339,  7.34484618, 38.16991339, 32.24622494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018110552584205478
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59769112e-14, -5.36397298e-14,  1.00000000e+00,  2.46618909e-27,
        1.00000000e+00,  5.36397298e-14, -1.00000000e+00,  0.00000000e+00,
        4.59769112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04928418, -0.05888145,  0.06182698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61511167e-05,-4.11447078e-06,-5.21369920e-05,-1.63474429e-06,
  2.12118319e-05, 2.47629989e-05,-2.47302695e-05,-3.12407526e-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,
  2.44892876e-04, 3.16708740e-04,-4.90504850e+00,-4.83647909e-05,
  3.08019149e-02, 7.18865116e-03]


--- Step 2281 ---
qpos:
[-2.48304542e-03, 8.65696749e-01,-2.37462038e-02, 3.92942785e-04,
 -2.93061318e-03, 8.61750165e-01,-2.70361658e-02, 3.13674878e-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,
  7.19544432e-03,-4.26372796e-02, 7.93384208e-02, 7.00503528e-01,
 -8.85424709e-02,-7.02589484e-01,-8.84480377e-02]

qacc:
[ 1.91076189e-01,-1.50826272e+00, 7.85168417e+00,-1.94008630e+01,
  2.04947872e-01, 9.25566582e-01,-2.13097418e+00, 1.13791567e+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,
 -2.77609796e+00, 1.39506600e+00,-4.60073912e+00, 4.71770894e+00,
 -1.72644004e+02, 4.27978717e+01]

qfrc_actuator:
[ 2.39858753e-03, 2.74229965e-02, 8.66473258e-03, 1.56717071e-03,
  4.99175066e-05, 2.75315716e-02, 8.65313113e-03, 1.56708749e-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: -0.0017897044428100348
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65254066e-14,  1.55084689e-14,  1.00000000e+00, -7.21537819e-28,
        1.00000000e+00, -1.55084689e-14, -1.00000000e+00,  0.00000000e+00,
        4.65254066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04931969, -0.05889977,  0.06182882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48156799e-05,-3.35790605e-05,-1.29253269e-05,-3.67035473e-05,
  3.70960600e-05, 6.05953711e-05, 6.98593293e-06, 4.53675568e-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,
  1.37567244e-05,-1.21341809e-04,-4.90505281e+00,-5.06766491e-05,
  3.08014940e-02, 7.18915445e-03]


--- Step 2282 ---
qpos:
[-2.48281709e-03, 8.65698479e-01,-2.37459802e-02, 3.92182181e-04,
 -2.92998989e-03, 8.61753314e-01,-2.70364984e-02, 3.13603027e-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,
  7.19115294e-03,-4.26102679e-02, 7.93335437e-02, 7.00350026e-01,
 -8.91047664e-02,-7.02740809e-01,-8.78950376e-02]

qacc:
[ 1.79721336e-01, 2.38666952e-01,-4.21395696e+00, 1.50823018e+01,
 -1.19215007e-02, 1.54143174e+00,-8.93856358e+00, 2.25126082e+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,
  2.25284744e+00, 8.99972714e-01, 4.17361109e+00,-3.24227416e+00,
  1.11751444e+02, 7.85434568e+01]

qfrc_actuator:
[ 2.41468637e-03, 2.74100526e-02, 8.67916985e-03, 1.60058185e-03,
  3.01344474e-05, 2.74909191e-02, 8.63919328e-03, 1.60373600e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017773496160747027
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.56162723e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.56162723e-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([ 0.00073753, -0.04566056,  0.06182977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26903058e-05,-3.60056010e-05, 4.62458475e-06, 3.08093157e-05,
 -2.16796219e-06,-5.37472646e-06,-5.68176874e-07, 3.94922158e-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,
  4.61422066e-04,-8.87073793e-04,-4.90507769e+00,-5.42525183e-05,
  3.08014824e-02, 7.18855745e-03]


--- Step 2283 ---
qpos:
[-2.48288513e-03, 8.65700391e-01,-2.37458604e-02, 3.92469062e-04,
 -2.92950441e-03, 8.61755826e-01,-2.70369793e-02, 3.13618442e-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,
  7.18995556e-03,-4.25986030e-02, 7.93348926e-02, 7.00290896e-01,
 -8.93518884e-02,-7.02799838e-01,-8.76429630e-02]

qacc:
[-1.55486653e-01, 2.68509209e+00,-1.36479255e+01, 3.18101719e+01,
 -7.24038657e-02, 1.36917602e+00,-9.78640774e+00, 2.55960560e+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,
  7.73502609e-01,-3.83671830e+00, 1.55652827e+00, 4.77788967e+00,
  9.27376516e+01,-2.07859739e+02]

qfrc_actuator:
[ 2.37079112e-03, 2.74550701e-02, 8.68761770e-03, 1.65605893e-03,
  1.80289474e-05, 2.74120577e-02, 8.61322003e-03, 1.64329747e-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: -0.0018143930363901661
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05948877e-14,  3.05948877e-14,  1.00000000e+00, -9.36047155e-28,
        1.00000000e+00, -3.05948877e-14, -1.00000000e+00,  0.00000000e+00,
        3.05948877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00685148, -0.02189792,  0.0618265 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83180422e-05, 2.71205325e-05, 2.63287360e-06, 5.46921673e-05,
 -1.31357751e-05,-8.03643904e-05,-2.58075774e-05, 4.00771138e-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,
  5.02289225e-05,-3.46352696e-04,-4.90509806e+00, 1.63821241e-05,
  3.08047131e-02, 7.18638660e-03]


--- Step 2284 ---
qpos:
[-2.48411128e-03, 8.65703386e-01,-2.37471741e-02, 3.93048138e-04,
 -2.92916183e-03, 8.61757634e-01,-2.70371046e-02, 3.13644091e-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,
  7.19162474e-03,-4.26011467e-02, 7.93390366e-02, 7.00319181e-01,
 -8.93082937e-02,-7.02774028e-01,-8.76683456e-02]

qacc:
[-6.08527322e-01, 6.03619296e+00,-2.06790882e+01, 2.72364940e+01,
 -7.47872759e-02,-1.71121747e+00, 4.32155245e+00,-2.60394177e+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,
  7.16637519e-01,-3.55212960e+00, 6.98740486e-01, 4.48229644e+00,
  8.55587567e+01,-1.91687352e+02]

qfrc_actuator:
[ 2.27364850e-03, 2.75344650e-02, 8.62169018e-03, 1.67084930e-03,
  1.06541430e-05, 2.73818703e-02, 8.63342273e-03, 1.64869646e-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: -0.0018294847695651817
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.03425053e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.03425053e-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([ 0.00685634, -0.02191373,  0.0618252 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10645458e-04, 9.73968187e-05,-5.81249330e-05, 1.71047963e-05,
 -1.36199131e-05,-7.87965462e-05, 1.79660077e-06, 1.84007015e-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,
  5.71727355e-06,-5.41655199e-05,-4.90501183e+00, 7.88249542e-05,
  3.08004642e-02, 7.18413442e-03]


--- Step 2285 ---
qpos:
[-2.48630120e-03, 8.65706590e-01,-2.37486654e-02, 3.93135252e-04,
 -2.92949373e-03, 8.61758839e-01,-2.70367329e-02, 3.13673706e-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,
  7.19596881e-03,-4.26169480e-02, 7.93430508e-02, 7.00428756e-01,
 -8.89943452e-02,-7.02669247e-01,-8.79516595e-02]

qacc:
[-5.05566358e-01,-2.42099197e-01, 3.33794718e+00,-1.17208605e+01,
 -3.54708661e-01,-2.10185865e+00, 6.17177436e+00,-5.83960792e+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,
  6.68721315e-01,-3.31442164e+00,-3.24362237e-02, 4.20154938e+00,
  7.95847975e+01,-1.78226331e+02]

qfrc_actuator:
[ 2.23430088e-03, 2.75092426e-02, 8.60127183e-03, 1.64381131e-03,
 -4.70799201e-05, 2.73634567e-02, 8.66313366e-03, 1.65177185e-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: -0.0018228668790593247
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04526633e-14,  3.04526633e-14,  1.00000000e+00, -9.27364699e-28,
        1.00000000e+00, -3.04526633e-14, -1.00000000e+00,  0.00000000e+00,
        3.04526633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068541 , -0.02190749,  0.06182581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.20931586e-05, 1.78955106e-05,-6.88368312e-06,-2.45461833e-05,
 -6.42085937e-05,-6.20693006e-05, 1.37089091e-05,-2.04850849e-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,
  4.01981117e-06,-5.62180076e-06,-4.90500265e+00, 8.39116218e-05,
  3.08008047e-02, 7.18435775e-03]


--- Step 2286 ---
qpos:
[-2.48862518e-03, 8.65709917e-01,-2.37498121e-02, 3.93217838e-04,
 -2.93050402e-03, 8.61759332e-01,-2.70364640e-02, 3.13677830e-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,
  7.20282575e-03,-4.26452111e-02, 7.93444408e-02, 7.00614203e-01,
 -8.84270020e-02,-7.02490060e-01,-8.84766588e-02]

qacc:
[-7.01300533e-02,-8.07067632e-01, 3.13570283e+00,-3.85748285e+00,
 -3.57129526e-01,-1.17838405e+00, 3.91194419e+00,-7.63671983e+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,
  6.28218868e-01,-3.11541703e+00,-6.56056221e-01, 3.93410003e+00,
  7.46122746e+01,-1.67020634e+02]

qfrc_actuator:
[ 2.26540443e-03, 2.75282086e-02, 8.62522921e-03, 1.64560148e-03,
 -8.11829153e-05, 2.72990308e-02, 8.64500816e-03, 1.63572221e-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: -0.0017987865652724158
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08603324e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.08603324e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068462 , -0.02188371,  0.06182794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28068765e-05, 2.64286278e-05, 2.59449225e-05, 1.83964483e-06,
 -6.45879286e-05,-9.63513259e-05,-2.92745367e-05,-1.82399666e-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,
  3.64451930e-05,-1.50915592e-04,-4.90505507e+00, 3.98777381e-05,
  3.08047909e-02, 7.18669080e-03]


--- Step 2287 ---
qpos:
[-2.49080736e-03, 8.65713714e-01,-2.37513723e-02, 3.93328764e-04,
 -2.93185634e-03, 8.61759494e-01,-2.70368480e-02, 3.13661668e-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,
  7.21776561e-03,-4.26702318e-02, 7.93585290e-02, 7.00958976e-01,
 -8.79490242e-02,-7.02149975e-01,-8.89207268e-02]

qacc:
[ 7.39354971e-02, 1.83286850e+00,-5.75534793e+00, 6.56365903e+00,
 -1.80454003e-01, 9.69300726e-01,-3.23348792e+00, 1.01071659e+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,
  2.02073142e+00, 8.10571974e-01, 3.17457252e+00,-2.95215716e+00,
  1.04794750e+02, 7.39022040e+01]

qfrc_actuator:
[ 2.28507659e-03, 2.75559353e-02, 8.60435037e-03, 1.64664527e-03,
 -8.30809326e-05, 2.72961113e-02, 8.61633432e-03, 1.62622886e-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: -0.0017700532741836902
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13612884e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.13612884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00073582, -0.04566617,  0.06183044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35629909e-05, 4.78754959e-05,-1.21758254e-05, 3.10675275e-06,
 -3.25665125e-05,-6.36461003e-05,-5.28163537e-05,-1.49893928e-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,
  9.66333332e-05,-4.53603924e-04,-4.90515834e+00,-4.70973678e-05,
  3.08116404e-02, 7.19083679e-03]


--- Step 2288 ---
qpos:
[-2.49241850e-03, 8.65717125e-01,-2.37522110e-02, 3.92792489e-04,
 -2.93337525e-03, 8.61759685e-01,-2.70378282e-02, 3.13663697e-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,
  7.21864049e-03,-4.26886128e-02, 7.93593869e-02, 7.01012866e-01,
 -8.75832410e-02,-7.02100842e-01,-8.92443053e-02]

qacc:
[ 2.99981117e-01,-3.85661283e+00, 1.57440096e+01,-2.78179417e+01,
 -8.81187518e-02, 2.07635425e+00,-8.11745230e+00, 1.22008165e+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,
 -3.51624618e+00, 1.65993759e+00,-3.30758839e+00, 3.12330651e+00,
 -2.14381275e+02, 5.58905430e+01]

qfrc_actuator:
[ 2.33317294e-03, 2.74997601e-02, 8.62820045e-03, 1.61170490e-03,
 -8.34735968e-05, 2.73299980e-02, 8.59967538e-03, 1.63847186e-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: -0.0018100209749214308
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06687889e-14, -4.60031834e-14,  1.00000000e+00,  1.41086192e-27,
        1.00000000e+00,  4.60031834e-14, -1.00000000e+00,  0.00000000e+00,
        3.06687889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04929061, -0.05888215,  0.06182702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.45620401e-05,-3.18576164e-05, 3.23289292e-05,-3.32539265e-05,
 -1.58576642e-05,-1.32572706e-05,-3.68273980e-05, 7.39775394e-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,
  5.36601497e-04,-9.43029886e-04,-4.90513599e+00,-1.07860105e-04,
  3.08063668e-02, 7.19378682e-03]


--- Step 2289 ---
qpos:
[-2.49345226e-03, 8.65719873e-01,-2.37517218e-02, 3.91835912e-04,
 -2.93496844e-03, 8.61760530e-01,-2.70396515e-02, 3.13673891e-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,
  7.20658592e-03,-4.27008689e-02, 7.93449640e-02, 7.00799210e-01,
 -8.73199926e-02,-7.02319812e-01,-8.94570754e-02]

qacc:
[ 3.03794956e-01,-5.44905532e+00, 1.99333484e+01,-2.88481852e+01,
 -3.98911996e-02, 3.38467919e+00,-1.11613073e+01, 1.34460306e+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,
 -3.23236355e+00, 1.53122272e+00,-3.82021987e+00, 3.20729646e+00,
 -1.97321804e+02, 5.11548213e+01]

qfrc_actuator:
[ 2.36233259e-03, 2.74649221e-02, 8.69567094e-03, 1.59134351e-03,
 -8.30016798e-05, 2.74034942e-02, 8.57267715e-03, 1.64570039e-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: -0.0018276541184623282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03728975e-14, -3.03728975e-14,  1.00000000e+00,  9.22512903e-28,
        1.00000000e+00,  3.03728975e-14, -1.00000000e+00,  0.00000000e+00,
        3.03728975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04926217, -0.05886721,  0.06182549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.51632147e-05,-4.74633379e-05, 6.37039248e-05,-2.12581560e-05,
 -7.05636800e-06, 5.87953346e-05,-3.40112266e-05, 5.53135882e-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,
  5.60389617e-06,-3.46969282e-05,-4.90507770e+00,-8.15464050e-05,
  3.08049212e-02, 7.19095000e-03]


--- Step 2290 ---
qpos:
[-2.49421299e-03, 8.65722757e-01,-2.37507488e-02, 3.91288174e-04,
 -2.93621392e-03, 8.61762536e-01,-2.70415189e-02, 3.13576796e-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,
  7.18256931e-03,-4.27074388e-02, 7.93134917e-02, 7.00337305e-01,
 -8.71511587e-02,-7.02787350e-01,-8.95671602e-02]

qacc:
[ 1.43444263e-01,-3.28626017e-01,-2.91258234e-01, 6.49194239e+00,
  1.82642062e-01,-5.51794064e-01, 8.72169095e+00,-2.80731299e+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,
 -2.99050938e+00, 1.42153893e+00,-4.26232016e+00, 3.25571026e+00,
 -1.82979347e+02, 4.71791868e+01]

qfrc_actuator:
[ 2.36214282e-03, 2.75143290e-02, 8.73516079e-03, 1.61526675e-03,
 -4.65314113e-05, 2.75178718e-02, 8.59321865e-03, 1.59668985e-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: -0.001821125589913944
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04817809e-14, -3.81022261e-14,  1.00000000e+00,  1.16142371e-27,
        1.00000000e+00,  3.81022261e-14, -1.00000000e+00,  0.00000000e+00,
        3.04817809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04927286, -0.05887036,  0.06182597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60985366e-05, 3.50536580e-05, 3.67758882e-05, 2.36769253e-05,
  3.31285430e-05, 1.40460583e-04, 2.86928471e-05,-4.75599463e-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,
  3.83422782e-04, 3.21839277e-04,-4.90505946e+00,-6.70550154e-05,
  3.08043673e-02, 7.18822826e-03]


--- Step 2291 ---
qpos:
[-2.49465775e-03, 8.65726594e-01,-2.37502403e-02, 3.90990640e-04,
 -2.93706140e-03, 8.61765624e-01,-2.70429056e-02, 3.13418907e-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,
  7.16906905e-03,-4.27088857e-02, 7.93015638e-02, 7.00073551e-01,
 -8.71085131e-02,-7.03055633e-01,-8.95650936e-02]

qacc:
[ 1.65061589e-01, 3.06989123e+00,-1.01769644e+01, 1.45526095e+01,
  2.09508828e-01,-1.16314599e+00, 8.78967252e+00,-2.08773541e+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,
  2.62908850e+00, 1.28074378e+00, 4.88606871e+00,-5.06667026e+00,
  1.28863609e+02, 1.01170263e+02]

qfrc_actuator:
[ 2.37992206e-03, 2.75959951e-02, 8.72267002e-03, 1.62959449e-03,
 -2.43596926e-05, 2.75849998e-02, 8.62406959e-03, 1.56831563e-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: -0.0018259280009323003
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.04016101e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.04016101e-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([-0.00079975, -0.04685092,  0.06182536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02193487e-05, 1.09806629e-04, 6.99846693e-08, 1.75577446e-05,
  3.79142599e-05, 1.49530968e-04, 6.17487061e-05,-2.22890572e-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,
  1.47703234e-03, 2.43385880e-04,-4.90507061e+00,-6.02775343e-05,
  3.08045454e-02, 7.18540260e-03]


--- Step 2292 ---
qpos:
[-2.49502618e-03, 8.65731320e-01,-2.37504506e-02, 3.90547270e-04,
 -2.93795211e-03, 8.61769728e-01,-2.70447095e-02, 3.13235325e-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,
  7.16527276e-03,-4.27056641e-02, 7.93047069e-02, 6.99992689e-01,
 -8.71827076e-02,-7.03140467e-01,-8.94588964e-02]

qacc:
[ 3.92512566e-02, 2.88063677e+00,-7.95274579e+00, 5.92789875e+00,
 -2.34112999e-02, 1.97714042e+00,-4.01811189e+00,-5.06288430e-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,
  2.42599272e+00, 1.16716179e+00, 3.76777502e+00,-4.54314776e+00,
  1.18737570e+02, 9.37023575e+01]

qfrc_actuator:
[ 2.37282530e-03, 2.76251357e-02, 8.67974560e-03, 1.62040739e-03,
 -4.64617323e-05, 2.76056394e-02, 8.58958859e-03, 1.55228742e-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: -0.0018447394817588392
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.00915938e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.00915938e-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([-0.00078638, -0.04684978,  0.06182366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.31610611e-06, 9.12190152e-05,-1.96633115e-05,-4.14563276e-06,
 -4.08763426e-06, 1.15995729e-04, 3.22602255e-06,-7.91998125e-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,
  4.61423719e-04,-2.40013418e-05,-4.90501484e+00,-9.00269730e-05,
  3.08013647e-02, 7.18878573e-03]


--- Step 2293 ---
qpos:
[-2.49558737e-03, 8.65736130e-01,-2.37508767e-02, 3.90757830e-04,
 -2.93918491e-03, 8.61773855e-01,-2.70464519e-02, 3.13043622e-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,
  7.17051068e-03,-4.26981431e-02, 7.93191390e-02, 7.00081911e-01,
 -8.73659329e-02,-7.03054777e-01,-8.92552019e-02]

qacc:
[-1.01201412e-01, 2.05864504e+00,-9.94145425e+00, 2.15441548e+01,
 -1.80145422e-01,-3.08338518e-01, 1.48614142e+00,-3.00717491e+00,
 -1.77131040e-01,-1.75728203e+00, 6.92220213e+00,-9.77381944e+00,
 -7.97572201e-02, 3.85565374e-01, 5.85315713e+00,-2.01177577e+01,
  2.25855139e+00, 1.07482463e+00, 2.82225752e+00,-4.09646304e+00,
  1.10352674e+02, 8.74969048e+01]

qfrc_actuator:
[ 2.35091618e-03, 2.75869384e-02, 8.65450630e-03, 1.65066524e-03,
 -7.70933610e-05, 2.75447613e-02, 8.56987177e-03, 1.54355899e-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: -0.0018421920303845346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01332056e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.01332056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078854, -0.04685243,  0.06182392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84190634e-05, 8.46376920e-06,-9.00032710e-06, 3.33979286e-05,
 -3.25574268e-05, 4.22923309e-06, 4.34723682e-06,-3.80257033e-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,
  3.46789055e-05,-4.73273306e-05,-4.90499332e+00,-8.98002346e-05,
  3.07995472e-02, 7.19044041e-03]


--- Step 2294 ---
qpos:
[-2.49600277e-03, 8.65739934e-01,-2.37502446e-02, 3.91727599e-04,
 -2.94057921e-03, 8.61777597e-01,-2.70479455e-02, 3.12950665e-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,
  7.18423263e-03,-4.26866221e-02, 7.93416656e-02, 7.00330458e-01,
 -8.76516656e-02,-7.02809110e-01,-8.89594809e-02]

qacc:
[ 7.75032791e-02,-2.72041369e+00, 4.56930016e+00, 7.61303448e+00,
 -8.47108147e-02, 8.28986728e-01,-7.86175547e+00, 2.48371483e+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,
  2.12100779e+00, 9.99992725e-01, 2.02360521e+00,-3.71162478e+00,
  1.03410730e+02, 8.23457400e+01]

qfrc_actuator:
[ 2.37361611e-03, 2.74910358e-02, 8.69292062e-03, 1.68609601e-03,
 -7.70213376e-05, 2.75065701e-02, 8.57645446e-03, 1.59239536e-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: -0.0018225030929907154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04587419e-14,  3.04587419e-14,  1.00000000e+00, -9.27734955e-28,
        1.00000000e+00, -3.04587419e-14, -1.00000000e+00,  0.00000000e+00,
        3.04587419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080305, -0.0468581 ,  0.06182574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39089986e-05,-9.17101965e-05, 4.01753471e-05, 3.61253251e-05,
 -1.53811623e-05,-3.51774790e-05, 7.84459303e-06, 4.90937698e-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,
  7.68357711e-05, 1.25244320e-04,-4.90499818e+00,-6.45017279e-05,
  3.07987027e-02, 7.19069496e-03]


--- Step 2295 ---
qpos:
[-2.49620544e-03, 8.65742973e-01,-2.37491087e-02, 3.92777399e-04,
 -2.94166984e-03, 8.61781191e-01,-2.70496814e-02, 3.12917355e-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,
  7.20598864e-03,-4.26713427e-02, 7.93695910e-02, 7.00729279e-01,
 -8.80344620e-02,-7.02412033e-01,-8.85762230e-02]

qacc:
[ 1.12130478e-01,-2.25141995e+00, 6.22494687e+00,-5.08554166e+00,
  1.59872939e-01, 1.70708697e+00,-8.89068845e+00, 1.97127063e+01,
  5.75744013e-02, 3.94017463e-01,-2.72652160e+00, 6.85803101e+00,
 -6.33072183e-02,-7.52650863e-01,-6.21377977e-01, 2.21863613e+00,
  2.00851390e+00, 9.39599087e-01, 1.34971028e+00,-3.37627209e+00,
  9.76716748e+01, 7.80808496e+01]

qfrc_actuator:
[ 2.38731475e-03, 2.74503287e-02, 8.71508136e-03, 1.68875840e-03,
 -4.08182389e-05, 2.75001419e-02, 8.56309954e-03, 1.62147654e-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: -0.0017892107619902065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10254959e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.10254959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00082734, -0.04686618,  0.0618288 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03094846e-05,-8.22389877e-05, 9.38349657e-06, 8.19147785e-07,
  2.88970600e-05,-2.24537278e-05,-1.79704060e-05, 2.87996021e-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,
  5.00760760e-04, 4.58717470e-04,-4.90502510e+00,-1.77443880e-05,
  3.07985168e-02, 7.18978886e-03]


--- Step 2296 ---
qpos:
[-2.49640711e-03, 8.65745808e-01,-2.37487381e-02, 3.93521931e-04,
 -2.94257195e-03, 8.61784499e-01,-2.70509507e-02, 3.12915995e-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,
  7.21542796e-03,-4.26499836e-02, 7.93812983e-02, 7.00868644e-01,
 -8.85123198e-02,-7.02274642e-01,-8.80854156e-02]

qacc:
[ 1.00495140e-04, 1.23921108e+00,-3.52155276e+00,-3.86284997e-01,
  9.97036786e-02,-1.02227080e+00, 1.74921335e+00, 3.24303718e+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,
 -3.07917203e+00, 1.51993509e+00,-4.05453059e+00, 4.54641933e+00,
 -1.91051115e+02, 4.81462055e+01]

qfrc_actuator:
[ 2.37773473e-03, 2.74429001e-02, 8.67436335e-03, 1.67213526e-03,
 -3.65949636e-05, 2.74949365e-02, 8.59143159e-03, 1.63870060e-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: -0.0017587972792989653
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73429928e-14, -4.73429928e-14,  1.00000000e+00,  2.24135896e-27,
        1.00000000e+00,  4.73429928e-14, -1.00000000e+00,  0.00000000e+00,
        4.73429928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04938539, -0.05892037,  0.06183162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.58374629e-08,-5.15218126e-05,-5.65530085e-05,-1.98134853e-05,
  1.79366569e-05,-2.03068619e-05, 2.24628339e-05, 1.61980341e-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,
  1.24326047e-03, 9.27764601e-04,-4.90507222e+00, 4.78134818e-05,
  3.07987261e-02, 7.18789688e-03]


--- Step 2297 ---
qpos:
[-2.49685332e-03, 8.65748080e-01,-2.37493228e-02, 3.94467153e-04,
 -2.94354199e-03, 8.61787937e-01,-2.70520567e-02, 3.12966496e-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,
  7.21068512e-03,-4.26322348e-02, 7.93743471e-02, 7.00736227e-01,
 -8.88620125e-02,-7.02405566e-01,-8.77422561e-02]

qacc:
[-1.28616231e-01, 2.33642588e+00,-1.02595062e+01, 1.56773351e+01,
 -3.56870970e-02, 7.82756102e-01,-4.73101982e+00, 1.33502929e+01,
 -5.15641340e-02, 2.61219557e-01,-2.15285312e+00, 6.27626810e+00,
  4.81291180e-02,-9.96617963e-01,-8.41148335e+00, 2.84514056e+01,
 -3.54553745e+00,-9.02555450e-01,-4.66463858e+00,-7.14195104e+00,
 -1.77280921e+02,-1.20589097e+02]

qfrc_actuator:
[ 2.35431415e-03, 2.73841730e-02, 8.61473813e-03, 1.67979936e-03,
 -5.15658944e-05, 2.75261668e-02, 8.60865860e-03, 1.66660140e-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: -0.0017544829684360136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.32792136e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.32792136e-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([ 0.05539716, -0.03503171,  0.06183207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33911636e-05,-1.00136796e-04,-7.79454294e-05, 3.10809981e-06,
 -6.46008312e-06, 2.51412486e-05, 1.63450423e-05, 2.81203200e-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,
  2.39207403e-04, 5.61614594e-04,-4.90504285e+00, 4.37457354e-05,
  3.07965635e-02, 7.18619047e-03]


--- Step 2298 ---
qpos:
[-2.49755970e-03, 8.65749272e-01,-2.37501571e-02, 3.95860611e-04,
 -2.94482068e-03, 8.61791655e-01,-2.70533167e-02, 3.13084773e-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,
  7.20898732e-03,-4.26294401e-02, 7.93718015e-02, 7.00694631e-01,
 -8.89100568e-02,-7.02447901e-01,-8.76868407e-02]

qacc:
[-1.36170329e-01, 1.92572337e-01,-4.65024610e+00, 1.36010660e+01,
 -1.62724550e-01, 2.19473611e+00,-1.01495922e+01, 2.19218730e+01,
  5.29105820e-02, 8.30312339e-01,-1.64868191e+00,-1.46563953e+00,
  1.07777842e-01,-7.52328815e-01,-6.14559715e+00, 2.11286570e+01,
  7.61257643e-01,-3.73854123e+00, 1.10141489e+00, 4.78022042e+00,
  8.89539789e+01,-1.98835537e+02]

qfrc_actuator:
[ 2.34058702e-03, 2.73128607e-02, 8.59752274e-03, 1.70165195e-03,
 -7.78723167e-05, 2.75434517e-02, 8.60158659e-03, 1.70058135e-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: -0.0017668494165803128
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14181564e-14,  3.14181564e-14,  1.00000000e+00, -9.87100549e-28,
        1.00000000e+00, -3.14181564e-14, -1.00000000e+00,  0.00000000e+00,
        3.14181564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682532, -0.02186497,  0.06183094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48955297e-05,-1.43324678e-04,-4.74063020e-05, 1.49222290e-05,
 -2.93703156e-05, 3.58484209e-05, 1.08830112e-06, 3.61658184e-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,
  5.39261742e-05,-2.20545910e-04,-4.90504119e+00, 3.38894538e-05,
  3.08010924e-02, 7.18575765e-03]


--- Step 2299 ---
qpos:
[-2.49828591e-03, 8.65749095e-01,-2.37507770e-02, 3.97510224e-04,
 -2.94659074e-03, 8.61794934e-01,-2.70539986e-02, 3.13178025e-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,
  7.21011392e-03,-4.26405261e-02, 7.93705089e-02, 7.00737321e-01,
 -8.86784240e-02,-7.02408189e-01,-8.78981247e-02]

qacc:
[-9.77249177e-03,-1.87922291e+00, 2.99592750e+00, 2.09853118e+00,
 -2.58284316e-01,-2.70939320e+00, 9.87520977e+00,-1.48110489e+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,
  7.06099669e-01,-3.47019950e+00, 3.13252879e-01, 4.46258351e+00,
  8.24664550e+01,-1.84324010e+02]

qfrc_actuator:
[ 0.00235054, 0.02723474, 0.00860543, 0.00171394,-0.00011071, 0.02748116,
  0.00861569, 0.00168458,-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: -0.0017731274251722579
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.13069159e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.13069159e-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([ 0.00682726, -0.02187144,  0.06183038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93421920e-06,-1.67442566e-04,-2.70223415e-05, 4.79316084e-06,
 -4.67770265e-05,-4.05603438e-05, 2.28744181e-05,-1.37248578e-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,
  8.28506657e-06,-1.32970014e-05,-4.90499973e+00, 6.16071774e-05,
  3.07992114e-02, 7.18473893e-03]


--- Step 2300 ---
qpos:
[-2.49932770e-03, 8.65748522e-01,-2.37519413e-02, 3.98185226e-04,
 -2.94841745e-03, 8.61797783e-01,-2.70547076e-02, 3.13255584e-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,
  7.21387898e-03,-4.26645959e-02, 7.93677802e-02, 7.00858525e-01,
 -8.81854225e-02,-7.02291548e-01,-8.83585867e-02]

qacc:
[-1.65719223e-01,-1.00858436e+00, 6.95048311e+00,-2.26557280e+01,
 -2.97094719e-02,-8.14682186e-01, 2.74358143e+00,-5.10106155e+00,
  7.27465227e-02,-3.90660037e+00, 1.50669239e+01,-2.23390648e+01,
  1.46539981e-01,-2.26316584e-01, 8.11251378e-01,-2.86146549e+00,
  6.59615722e-01,-3.24592740e+00,-3.59016505e-01, 4.16342746e+00,
  7.70629716e+01,-1.72236301e+02]

qfrc_actuator:
[ 2.32131215e-03, 2.72597698e-02, 8.59254044e-03, 1.66723688e-03,
 -9.39079073e-05, 2.74427317e-02, 8.60632919e-03, 1.67476320e-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: -0.0017599446582234474
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33694506e-14, -3.15414186e-14,  1.00000000e+00,  1.36793400e-27,
        1.00000000e+00,  3.15414186e-14, -1.00000000e+00,  0.00000000e+00,
        4.33694506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682286, -0.02185834,  0.06183152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01717621e-05,-7.39685632e-05,-5.06304217e-05,-5.47161557e-05,
 -5.40445407e-06,-5.70490097e-05,-1.54180592e-05,-1.10387309e-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,
  2.81244855e-06,-2.60657886e-05,-4.90502732e+00, 3.65135502e-05,
  3.08014959e-02, 7.18603619e-03]


--- Step 2301 ---
qpos:
[-2.50051172e-03, 8.65748815e-01,-2.37536321e-02, 3.97438636e-04,
 -2.94997068e-03, 8.61800633e-01,-2.70557488e-02, 3.13386406e-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,
  7.20413523e-03,-4.26823161e-02, 7.93507497e-02, 7.00699937e-01,
 -8.78009506e-02,-7.02454525e-01,-8.87030557e-02]

qacc:
[-7.52897317e-02,-3.12136235e-01, 8.77333491e+00,-3.31699779e+01,
  1.43855049e-01, 2.02572448e+00,-9.46890787e+00, 1.92197561e+01,
 -2.61126480e-01, 1.55894104e+00,-5.03657248e+00, 7.86411990e+00,
  1.44900978e-01,-1.31130663e-01, 2.64977256e+00,-9.18867215e+00,
 -3.37720323e+00, 1.58740237e+00,-3.57548270e+00, 2.71495446e+00,
 -2.06142996e+02, 5.40669533e+01]

qfrc_actuator:
[ 2.32213291e-03, 2.73995231e-02, 8.60335194e-03, 1.60402621e-03,
 -6.53080700e-05, 2.74720532e-02, 8.60101108e-03, 1.70415973e-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: -0.0017711053153413592
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.56713299e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.56713299e-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([ 0.04936579, -0.05890813,  0.06183051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35706448e-05, 8.56110388e-05,-1.25831167e-05,-6.91944960e-05,
  2.60277761e-05,-6.30045576e-06,-1.94000128e-05, 2.61997744e-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,
  2.97446887e-05,-2.16023488e-04,-4.90511093e+00,-3.43605996e-05,
  3.08070506e-02, 7.18931044e-03]


--- Step 2302 ---
qpos:
[-2.50138108e-03, 8.65749995e-01,-2.37548346e-02, 3.96209232e-04,
 -2.95139542e-03, 8.61802964e-01,-2.70560943e-02, 3.13550930e-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,
  7.18193746e-03,-4.26941567e-02, 7.93175143e-02, 7.00282779e-01,
 -8.75158756e-02,-7.02875948e-01,-8.89404445e-02]

qacc:
[ 1.64958494e-01,-1.18547142e+00, 7.96593112e+00,-1.77554860e+01,
  6.83175318e-02,-1.93515057e+00, 4.48178165e+00, 6.18096822e-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,
 -3.11350389e+00, 1.46991586e+00,-4.05120390e+00, 2.89696755e+00,
 -1.90473067e+02, 4.96125016e+01]

qfrc_actuator:
[ 2.35868958e-03, 2.74827383e-02, 8.64633623e-03, 1.58500402e-03,
 -6.54435960e-05, 2.74352467e-02, 8.63394137e-03, 1.72095478e-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: -0.0017788931114068873
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12054450e-14,  1.56027225e-14,  1.00000000e+00, -4.86889900e-28,
        1.00000000e+00, -1.56027225e-14, -1.00000000e+00,  0.00000000e+00,
        3.12054450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935172, -0.05889952,  0.06182972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00986378e-05, 1.25532673e-04, 5.67336577e-05,-1.71336769e-05,
  1.22181738e-05,-4.32726932e-05, 3.01289166e-05, 1.63585155e-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,
  2.65855853e-04, 4.34567596e-04,-4.90508308e+00,-1.24329907e-05,
  3.08064131e-02, 7.18727301e-03]


--- Step 2303 ---
qpos:
[-2.50186912e-03, 8.65751541e-01,-2.37550182e-02, 3.94790318e-04,
 -2.95238179e-03, 8.61804616e-01,-2.70552882e-02, 3.13629580e-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,
  7.17027687e-03,-4.27009749e-02, 7.93041672e-02, 7.00065145e-01,
 -8.73591583e-02,-7.03096744e-01,-8.90625576e-02]

qacc:
[ 2.00445152e-01,-2.75120338e+00, 1.13131918e+01,-1.64943700e+01,
  2.31802604e-01,-5.87774737e+00, 2.32843452e+01,-3.94963613e+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,
  2.63429507e+00, 1.25558109e+00, 4.97209249e+00,-4.62230469e+00,
  1.29615999e+02, 1.03124506e+02]

qfrc_actuator:
[ 2.38078254e-03, 2.74784054e-02, 8.69006751e-03, 1.57437216e-03,
 -2.95268460e-05, 2.73947899e-02, 8.68892556e-03, 1.67691361e-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: -0.0018157136937948654
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05726346e-14,  3.05726346e-14,  1.00000000e+00, -9.34685984e-28,
        1.00000000e+00, -3.05726346e-14, -1.00000000e+00,  0.00000000e+00,
        3.05726346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080572, -0.04686743,  0.06182629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64572353e-05, 7.68347057e-05, 7.60566582e-05,-3.62279692e-06,
  4.17103795e-05,-5.77848745e-05, 5.03072561e-05,-4.45393725e-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,
  1.28986009e-03, 5.89895366e-04,-4.90508904e+00,-8.61656385e-07,
  3.08066844e-02, 7.18532118e-03]


--- Step 2304 ---
qpos:
[-2.50203685e-03, 8.65753039e-01,-2.37549410e-02, 3.93362324e-04,
 -2.95293223e-03, 8.61805553e-01,-2.70539701e-02, 3.13590733e-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,
  7.16834086e-03,-4.27032036e-02, 7.93061864e-02, 7.00031593e-01,
 -8.73210082e-02,-7.03132921e-01,-8.90780883e-02]

qacc:
[ 1.68130460e-01,-8.09833948e-01, 2.83487678e+00,-3.37479530e+00,
  2.30103272e-01,-4.78867407e+00, 2.06677122e+01,-4.13015456e+01,
  1.20062002e-01,-7.21508956e+00, 3.03289664e+01,-5.65229678e+01,
  8.60136032e-02, 2.59171766e-01,-1.67283536e+00, 5.29247736e+00,
  2.43114364e+00, 1.14735289e+00, 3.84154288e+00,-4.21414007e+00,
  1.19401175e+02, 9.52509039e+01]

qfrc_actuator:
[ 2.39400473e-03, 2.74217095e-02, 8.68026314e-03, 1.56867432e-03,
 -7.84527270e-06, 2.73347574e-02, 8.70314995e-03, 1.61518429e-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: -0.0018367050542553442
  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([-0.00079048, -0.04686494,  0.06182438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06103060e-05, 1.79392862e-06, 1.53006714e-05, 1.54960029e-07,
  4.14732329e-05,-8.39047199e-05, 6.92588036e-06,-6.33360228e-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,
  3.54645216e-04, 1.65405467e-04,-4.90502809e+00,-4.76651591e-05,
  3.08032669e-02, 7.18848013e-03]


--- Step 2305 ---
qpos:
[-2.50215588e-03, 8.65754434e-01,-2.37554261e-02, 3.91943843e-04,
 -2.95351248e-03, 8.61805758e-01,-2.70530671e-02, 3.13623146e-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,
  7.17545925e-03,-4.27011967e-02, 7.93197474e-02, 7.00169168e-01,
 -8.73932565e-02,-7.02997572e-01,-8.89942077e-02]

qacc:
[ 2.52155772e-02, 1.45199363e+00,-5.41790555e+00, 6.55999697e+00,
 -1.56629617e-02, 1.65698955e+00,-1.03223773e+01, 2.38600859e+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,
  2.26360115e+00, 1.05893568e+00, 2.88546501e+00,-3.85967925e+00,
  1.10941824e+02, 8.87186942e+01]

qfrc_actuator:
[ 2.38406032e-03, 2.73871211e-02, 8.63868791e-03, 1.56583226e-03,
 -3.03829731e-05, 2.72810388e-02, 8.67534497e-03, 1.65001760e-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: -0.0018359756858036952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.04704645e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.04704645e-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([-0.00079109, -0.04686651,  0.06182447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64738797e-06,-3.04484822e-05,-3.93247804e-05,-2.23329177e-06,
 -2.86094136e-06,-1.01946140e-04,-4.64901313e-05, 3.02423824e-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,
  1.00666040e-05, 5.26491246e-06,-4.90500213e+00,-6.33201858e-05,
  3.08011096e-02, 7.19004859e-03]


--- Step 2306 ---
qpos:
[-2.50231389e-03, 8.65755485e-01,-2.37565792e-02, 3.90541841e-04,
 -2.95405994e-03, 8.61805708e-01,-2.70527636e-02, 3.13761221e-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,
  7.19108136e-03,-4.26952420e-02, 7.93416193e-02, 7.00466985e-01,
 -8.75690853e-02,-7.02701381e-01,-8.88168207e-02]

qacc:
[-2.07335734e-02, 1.44616689e+00,-5.88426099e+00, 7.49145958e+00,
  1.70361931e-02, 3.50985080e+00,-1.74662777e+01, 3.69035993e+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,
  2.12592898e+00, 9.86928290e-01, 2.07772583e+00,-3.54949740e+00,
  1.03937757e+02, 8.33020271e+01]

qfrc_actuator:
[ 2.37811207e-03, 2.73481201e-02, 8.59652155e-03, 1.56468871e-03,
 -2.59029757e-05, 2.73024233e-02, 8.65854985e-03, 1.70586563e-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: -0.001817798540774282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05375706e-14, -3.05375706e-14,  1.00000000e+00,  9.32543217e-28,
        1.00000000e+00,  3.05375706e-14, -1.00000000e+00,  0.00000000e+00,
        3.05375706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080433, -0.04687134,  0.06182615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73796021e-06,-6.42710206e-05,-5.33820746e-05,-3.85167133e-06,
  3.10952544e-06,-4.39401763e-05,-4.25401795e-05, 5.04582896e-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,
  1.34754024e-04, 5.62549446e-05,-4.90500316e+00,-5.30359702e-05,
  3.07998775e-02, 7.19030569e-03]


--- Step 2307 ---
qpos:
[-2.50252668e-03, 8.65755156e-01,-2.37572386e-02, 3.89536519e-04,
 -2.95456155e-03, 8.61805438e-01,-2.70527007e-02, 3.13893028e-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,
  7.21475663e-03,-4.26855732e-02, 7.93690753e-02, 7.00915889e-01,
 -8.78428070e-02,-7.02253030e-01,-8.85507710e-02]

qacc:
[-2.79101594e-02,-2.38531461e+00, 4.18484688e+00, 2.90306867e+00,
  2.40776902e-02, 2.52905400e-01,-1.05860538e+00, 5.20784491e-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,
  2.01329284e+00, 9.28527427e-01, 1.39602391e+00,-3.27549997e+00,
  9.81473055e+01, 7.88192496e+01]

qfrc_actuator:
[ 2.37462971e-03, 2.72357414e-02, 8.60758900e-03, 1.58230612e-03,
 -2.30156600e-05, 2.72976744e-02, 8.64871100e-03, 1.70268292e-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: -0.0017857588174789302
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10854695e-14, -1.24341878e-13,  1.00000000e+00,  3.86522565e-27,
        1.00000000e+00,  1.24341878e-13, -1.00000000e+00,  0.00000000e+00,
        3.10854695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00082757, -0.04687873,  0.06182908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.27291156e-06,-1.59521874e-04,-8.91354082e-06, 1.29440416e-05,
  4.35769902e-06,-3.59462486e-05,-2.24127243e-05,-5.55777272e-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,
  6.40747921e-04, 2.79642799e-04,-4.90502682e+00,-2.06496165e-05,
  3.07992936e-02, 7.18945748e-03]


--- Step 2308 ---
qpos:
[-2.50260063e-03, 8.65754104e-01,-2.37577075e-02, 3.88686663e-04,
 -2.95502142e-03, 8.61805152e-01,-2.70528774e-02, 3.14017333e-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,
  7.22561448e-03,-4.26695704e-02, 7.93812911e-02, 7.01094959e-01,
 -8.82151649e-02,-7.02075127e-01,-8.81728960e-02]

qacc:
[ 7.31831806e-02,-1.16656035e+00, 2.11788893e+00, 7.98276004e-01,
  2.18268020e-02, 4.93428457e-01,-1.47329776e+00, 5.70383808e-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,
 -3.20435817e+00, 1.58351487e+00,-3.81005154e+00, 4.81956651e+00,
 -1.98805438e+02, 4.99983714e+01]

qfrc_actuator:
[ 2.39041091e-03, 2.72402847e-02, 8.63194968e-03, 1.59304069e-03,
 -2.11101489e-05, 2.73128173e-02, 8.64292696e-03, 1.70028367e-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: -0.001785229565967314
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10946851e-14, -1.55473426e-14,  1.00000000e+00,  4.83439722e-28,
        1.00000000e+00,  1.55473426e-14, -1.00000000e+00,  0.00000000e+00,
        3.10946851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934549, -0.05889578,  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:
[ 1.32487942e-05,-8.59305119e-05,-9.22630517e-06, 3.84771780e-06,
  3.96993913e-06,-9.81972378e-06,-1.61621360e-05,-4.82480690e-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,
  1.46441489e-03, 6.47295688e-04,-4.90507121e+00, 3.10134131e-05,
  3.07991201e-02, 7.18765557e-03]


--- Step 2309 ---
qpos:
[-2.50251027e-03, 8.65753985e-01,-2.37589566e-02, 3.87824022e-04,
 -2.95526131e-03, 8.61804844e-01,-2.70528596e-02, 3.14100277e-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,
  7.22457132e-03,-4.26476974e-02, 7.93765214e-02, 7.01023965e-01,
 -8.86794869e-02,-7.02147841e-01,-8.76912679e-02]

qacc:
[ 8.53300052e-02, 3.38338347e+00,-1.02234912e+01, 1.05677875e+01,
  1.15968053e-01,-1.42430998e+00, 6.78063430e+00,-1.42344176e+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,
 -2.97525191e+00, 1.46753768e+00,-4.24637456e+00, 4.20260753e+00,
 -1.84265376e+02, 4.65747469e+01]

qfrc_actuator:
[ 2.39982590e-03, 2.73858862e-02, 8.62888672e-03, 1.59972810e-03,
 -2.05529822e-06, 2.73220267e-02, 8.65742354e-03, 1.68063927e-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: -0.0017842590293508861
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88894986e-15, -3.11115989e-14,  1.00000000e+00,  1.20991448e-28,
        1.00000000e+00,  3.11115989e-14, -1.00000000e+00,  0.00000000e+00,
        3.88894986e-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([ 0.04934833, -0.05889818,  0.06182943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57241266e-05, 9.58417211e-05,-2.18007524e-05, 2.76537430e-06,
  2.09383561e-05, 1.80686011e-07, 1.03119275e-05,-2.07196221e-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,
  3.12386935e-04, 4.88677916e-04,-4.90503628e+00, 2.94533098e-05,
  3.07972948e-02, 7.18671800e-03]


--- Step 2310 ---
qpos:
[-2.50265547e-03, 8.65754888e-01,-2.37601997e-02, 3.87669911e-04,
 -2.95546362e-03, 8.61804683e-01,-2.70524393e-02, 3.14086251e-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,
  7.20983923e-03,-4.26293209e-02, 7.93524539e-02, 7.00690162e-01,
 -8.90200839e-02,-7.02480081e-01,-8.73524892e-02]

qacc:
[-1.23825948e-01, 2.79120619e+00,-1.09844289e+01, 2.24877044e+01,
  1.99403616e-02,-2.92311932e+00, 1.48013684e+01,-3.23399387e+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,
 -3.42223056e+00,-8.74129027e-01,-4.82445272e+00,-7.05741000e+00,
 -1.71474403e+02,-1.16537429e+02]

qfrc_actuator:
[ 2.36983491e-03, 2.74727352e-02, 8.64576924e-03, 1.63959853e-03,
 -8.41105456e-06, 2.73454425e-02, 8.68375035e-03, 1.63326376e-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: -0.001791155478491388
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09918105e-14,  3.09918105e-14,  1.00000000e+00, -9.60492320e-28,
        1.00000000e+00, -3.09918105e-14, -1.00000000e+00,  0.00000000e+00,
        3.09918105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05532058, -0.0350407 ,  0.0618288 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24806433e-05, 1.36073509e-04, 3.40984516e-05, 4.32784400e-05,
  3.58339428e-06, 2.47674570e-05, 2.69182874e-05,-4.74153023e-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,
  1.24393425e-06,-6.87430620e-05,-4.90502995e+00, 2.51551768e-05,
  3.07960213e-02, 7.18492372e-03]


--- Step 2311 ---
qpos:
[-2.50291316e-03, 8.65755737e-01,-2.37605209e-02, 3.88759685e-04,
 -2.95587414e-03, 8.61804939e-01,-2.70516012e-02, 3.14080961e-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,
  7.19837763e-03,-4.26268327e-02, 7.93357721e-02, 7.00453181e-01,
 -8.90389203e-02,-7.02717905e-01,-8.73210034e-02]

qacc:
[-5.83195548e-02,-8.42214967e-02,-5.05104452e+00, 2.51415067e+01,
 -1.09539880e-01,-4.34805206e-01, 1.98284784e+00,-1.44701796e+00,
 -1.92574536e-01, 3.69427283e+00,-1.57311137e+01, 2.88380717e+01,
  8.45768336e-02, 1.88244027e-01,-5.56503267e+00, 1.88459704e+01,
  8.17619012e-01,-3.97206259e+00, 1.84644336e+00, 4.97947898e+00,
  9.48176771e+01,-2.12242487e+02]

qfrc_actuator:
[ 2.36979236e-03, 2.74173547e-02, 8.67414507e-03, 1.69866258e-03,
 -2.99187652e-05, 2.73949729e-02, 8.71688941e-03, 1.64098165e-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: -0.0018067487987599717
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.07243327e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.07243327e-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([ 0.00683259, -0.02191786,  0.06182728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07466314e-05, 2.95917375e-05, 6.21814761e-05, 6.69167361e-05,
 -1.98033417e-05, 6.69091455e-05, 3.99277610e-05, 8.78737241e-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,
  5.49719499e-04,-7.22237705e-04,-4.90505637e+00, 3.51206292e-05,
  3.08009359e-02, 7.18573079e-03]


--- Step 2312 ---
qpos:
[-2.50322299e-03, 8.65756740e-01,-2.37609620e-02, 3.89905384e-04,
 -2.95632950e-03, 8.61805639e-01,-2.70509948e-02, 3.14192663e-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,
  7.18992463e-03,-4.26389924e-02, 7.93228447e-02, 7.00305384e-01,
 -8.87613610e-02,-7.02869016e-01,-8.75724638e-02]

qacc:
[-2.74642578e-02, 6.52755671e-01,-2.26899619e+00, 3.31605538e+00,
 -2.38493809e-02, 3.63807073e+00,-1.70630379e+01, 3.73596525e+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,
  7.52153890e-01,-3.66197749e+00, 9.38573749e-01, 4.57445808e+00,
  8.72416317e+01,-1.95482359e+02]

qfrc_actuator:
[ 2.36993740e-03, 2.74015713e-02, 8.65524069e-03, 1.69741350e-03,
 -2.47816211e-05, 2.74065855e-02, 8.70068174e-03, 1.69883902e-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: -0.0018275997611465616
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03738009e-14, -3.03738009e-14,  1.00000000e+00,  9.22567780e-28,
        1.00000000e+00,  3.03738009e-14, -1.00000000e+00,  0.00000000e+00,
        3.03738009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683943, -0.02194002,  0.06182536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.97874282e-06, 1.64526006e-05,-2.82135045e-06, 3.47099051e-06,
 -4.25541995e-06, 5.76339397e-05, 2.82611170e-06, 6.22753556e-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,
  3.50086444e-04,-8.25349998e-05,-4.90501122e+00, 8.69690623e-05,
  3.08002425e-02, 7.18366479e-03]


--- Step 2313 ---
qpos:
[-2.50374104e-03, 8.65758428e-01,-2.37623424e-02, 3.89980976e-04,
 -2.95658506e-03, 8.61807018e-01,-2.70515266e-02, 3.14410671e-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,
  7.18425963e-03,-4.26647623e-02, 7.93105715e-02, 7.00240034e-01,
 -8.82085463e-02,-7.02939470e-01,-8.80865935e-02]

qacc:
[-1.10066091e-01, 1.32435312e+00, 1.10558367e+00,-1.86237669e+01,
  1.04325224e-01, 6.26083180e+00,-2.55124986e+01, 4.52393272e+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,
  6.96996812e-01,-3.40255147e+00, 1.63564457e-01, 4.19778623e+00,
  8.09271147e+01,-1.81518961e+02]

qfrc_actuator:
[ 2.35242700e-03, 2.74448656e-02, 8.60864114e-03, 1.64291433e-03,
 -3.73766119e-06, 2.74307599e-02, 8.63759563e-03, 1.75015731e-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: -0.001825400243662935
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04103998e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04103998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683874, -0.02193886,  0.06182547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98841572e-05, 5.20382955e-05,-4.34349053e-05,-5.38269480e-05,
  1.90301683e-05, 5.96295978e-05,-4.86915499e-05, 5.50936019e-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,
  2.07848345e-04, 2.76273748e-04,-4.90504324e+00, 7.91186472e-05,
  3.08041347e-02, 7.18421986e-03]


--- Step 2314 ---
qpos:
[-2.50409304e-03, 8.65759625e-01,-2.37633454e-02, 3.90844599e-04,
 -2.95661325e-03, 8.61808761e-01,-2.70524346e-02, 3.14687304e-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,
  7.18816967e-03,-4.26860769e-02, 7.93136403e-02, 7.00359434e-01,
 -8.77764048e-02,-7.02823805e-01,-8.84910458e-02]

qacc:
[ 8.75123752e-02,-7.88657888e-02,-3.98357598e+00, 1.73772592e+01,
  1.19412643e-01, 2.73601065e+00,-1.15345561e+01, 2.20183971e+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,
  2.39376232e+00, 1.11381722e+00, 3.83550809e+00,-3.75084917e+00,
  1.19945648e+02, 9.71588519e+01]

qfrc_actuator:
[ 2.37775818e-03, 2.73809935e-02, 8.61730247e-03, 1.68183718e-03,
  8.87106074e-06, 2.74443052e-02, 8.61839231e-03, 1.77943842e-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: -0.0018114740177719094
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53220942e-14, -3.06441885e-14,  1.00000000e+00,  4.69533144e-28,
        1.00000000e+00,  3.06441885e-14, -1.00000000e+00,  0.00000000e+00,
        1.53220942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080706, -0.04687881,  0.0618266 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58557105e-05,-4.60804267e-05, 1.21927501e-05, 3.86007253e-05,
  2.16490624e-05, 3.91629304e-05,-1.09910054e-05, 3.12177256e-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,
  1.11369718e-04, 4.12518127e-04,-4.90513535e+00, 2.03878842e-05,
  3.08115064e-02, 7.18696942e-03]


--- Step 2315 ---
qpos:
[-2.50420630e-03, 8.65759805e-01,-2.37633811e-02, 3.92540829e-04,
 -2.95645523e-03, 8.61810217e-01,-2.70524456e-02, 3.14996417e-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,
  7.20102259e-03,-4.27032716e-02, 7.93282402e-02, 7.00650607e-01,
 -8.74561811e-02,-7.02535258e-01,-8.87938865e-02]

qacc:
[ 1.26192173e-01,-2.33211548e+00, 2.85030736e+00, 1.07576317e+01,
  9.87661470e-02,-2.21492548e+00, 5.97718786e+00,-1.58229612e+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,
  2.23571879e+00, 1.02998560e+00, 2.88274984e+00,-3.59429928e+00,
  1.11492020e+02, 9.00993406e+01]

qfrc_actuator:
[ 2.39299807e-03, 2.73069797e-02, 8.65817927e-03, 1.72212525e-03,
  1.63111532e-05, 2.74160115e-02, 8.66071705e-03, 1.79554880e-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: -0.0018122755990674366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06306344e-14, -3.06306344e-14,  1.00000000e+00,  9.38235761e-28,
        1.00000000e+00,  3.06306344e-14, -1.00000000e+00,  0.00000000e+00,
        3.06306344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080572, -0.04687909,  0.06182654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27915138e-05,-9.56285792e-05, 3.41950909e-05, 3.94857195e-05,
  1.77209041e-05,-7.36343020e-06, 5.01280593e-05, 1.80094590e-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,
  3.33483218e-05,-2.02977511e-04,-4.90508412e+00,-4.81194005e-05,
  3.08063435e-02, 7.19003114e-03]


--- Step 2316 ---
qpos:
[-2.50429697e-03, 8.65759357e-01,-2.37623809e-02, 3.93615599e-04,
 -2.95616371e-03, 8.61811395e-01,-2.70521056e-02, 3.15257065e-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,
  7.20044985e-03,-4.27140596e-02, 7.93285691e-02, 7.00661525e-01,
 -8.72421101e-02,-7.02527327e-01,-8.89808825e-02]

qacc:
[ 1.26879454e-02,-4.99991463e+00, 1.92502244e+01,-3.12056939e+01,
  7.05966611e-02,-2.34301684e+00, 9.86924595e+00,-1.86168514e+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,
 -3.35641571e+00, 1.60167948e+00,-3.56772571e+00, 3.70799070e+00,
 -2.06530583e+02, 5.31579603e+01]

qfrc_actuator:
[ 2.38429142e-03, 2.72986159e-02, 8.71764450e-03, 1.69186215e-03,
  2.06002666e-05, 2.73808729e-02, 8.66782546e-03, 1.76827844e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018000027830620824
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54197404e-14, -4.62592212e-14,  1.00000000e+00,  7.13305181e-28,
        1.00000000e+00,  4.62592212e-14, -1.00000000e+00,  0.00000000e+00,
        1.54197404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04931962, -0.05887717,  0.0618277 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14693218e-06,-5.30873013e-05, 4.52904994e-05,-3.24105401e-05,
  1.26989928e-05,-2.81691837e-05, 1.23709179e-05,-2.55073970e-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,
  4.11693733e-04,-5.68897483e-04,-4.90506322e+00,-8.89765135e-05,
  3.08020532e-02, 7.19180771e-03]


--- Step 2317 ---
qpos:
[-2.50443148e-03, 8.65759106e-01,-2.37613090e-02, 3.94624633e-04,
 -2.95597025e-03, 8.61811971e-01,-2.70520181e-02, 3.15456992e-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,
  7.18747989e-03,-4.27189201e-02, 7.93127300e-02, 7.00413671e-01,
 -8.71256695e-02,-7.02778741e-01,-8.90609260e-02]

qacc:
[-2.30181484e-02,-7.46988526e-02, 9.22272972e-01,-2.31970411e+00,
 -5.16204560e-02,-1.33858780e+00, 6.18336193e+00,-1.58475897e+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,
 -3.09930358e+00, 1.48186021e+00,-4.04203127e+00, 3.61606954e+00,
 -1.90762061e+02, 4.89370560e+01]

qfrc_actuator:
[ 2.37909014e-03, 2.73474111e-02, 8.73454934e-03, 1.69139988e-03,
  5.22440681e-06, 2.73062272e-02, 8.63623868e-03, 1.73341178e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018076677453165435
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07087137e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.07087137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04930746, -0.05887056,  0.06182703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18413011e-06, 2.70768734e-05, 1.03928501e-05,-1.80222405e-06,
 -9.35117848e-06,-8.89683340e-05,-3.67792515e-05,-3.61481836e-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,
  3.06045821e-06, 1.48159391e-05,-4.90502739e+00,-7.12656934e-05,
  3.08015438e-02, 7.19025913e-03]


--- Step 2318 ---
qpos:
[-2.50443305e-03, 8.65759500e-01,-2.37608367e-02, 3.95608305e-04,
 -2.95610698e-03, 8.61812007e-01,-2.70522990e-02, 3.15579196e-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,
  7.18431819e-03,-4.27191266e-02, 7.93125749e-02, 7.00351150e-01,
 -8.71282768e-02,-7.02844109e-01,-8.90342026e-02]

qacc:
[ 6.91006855e-02, 2.47235652e+00,-7.47492657e+00, 7.52410804e+00,
 -1.73988259e-01,-1.28373251e+00, 6.82255422e+00,-1.92886651e+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,
  2.45206481e+00, 1.16350114e+00, 3.92102467e+00,-4.38572759e+00,
  1.20325601e+02, 9.55802459e+01]

qfrc_actuator:
[ 2.39380212e-03, 2.73944226e-02, 8.70871524e-03, 1.69075835e-03,
 -2.17722971e-05, 2.72793227e-02, 8.61740307e-03, 1.69430377e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018217897039472936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04706691e-14, -6.09413382e-14,  1.00000000e+00,  1.85692335e-27,
        1.00000000e+00,  6.09413382e-14, -1.00000000e+00,  0.00000000e+00,
        3.04706691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079797, -0.04688077,  0.06182571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27198570e-05, 6.42174553e-05,-1.90316563e-05, 8.40288355e-07,
 -3.14454487e-05,-8.58165744e-05,-4.30008034e-05,-4.48997992e-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,
  4.35740722e-04, 1.09476196e-04,-4.90502488e+00,-6.24946233e-05,
  3.08016306e-02, 7.18843111e-03]


--- Step 2319 ---
qpos:
[-2.50372245e-03, 8.65760681e-01,-2.37610611e-02, 3.96219182e-04,
 -2.95656826e-03, 8.61812338e-01,-2.70523315e-02, 3.15500280e-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,
  7.19028120e-03,-4.27150432e-02, 7.93242345e-02, 7.00460820e-01,
 -8.72417352e-02,-7.02736732e-01,-8.89078457e-02]

qacc:
[ 3.72680392e-01, 2.21834145e+00,-4.82731389e+00,-1.08629395e+00,
 -1.70993739e-01,-4.44222795e+00, 2.48960184e+01,-6.03228895e+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,
  2.28117684e+00, 1.07248448e+00, 2.95366992e+00,-3.99264315e+00,
  1.11727693e+02, 8.90357481e+01]

qfrc_actuator:
[ 2.45580806e-03, 2.74398383e-02, 8.67563296e-03, 1.67224255e-03,
 -3.77175132e-05, 2.73700056e-02, 8.65969310e-03, 1.59980597e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018232868424357604
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08912980e-14, -9.13369470e-14,  1.00000000e+00,  5.56162526e-27,
        1.00000000e+00,  9.13369470e-14, -1.00000000e+00,  0.00000000e+00,
        6.08912980e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079698, -0.04688209,  0.06182559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80775214e-05, 7.74173436e-05,-2.21434423e-05,-1.64102411e-05,
 -3.08810875e-05, 3.18877576e-05, 1.77149671e-05,-1.00537371e-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,
  2.55434905e-05,-9.21116756e-06,-4.90499933e+00,-7.33787192e-05,
  3.07997073e-02, 7.18999856e-03]


--- Step 2320 ---
qpos:
[-2.50266208e-03, 8.65763007e-01,-2.37621929e-02, 3.96571656e-04,
 -2.95728025e-03, 8.61813285e-01,-2.70518592e-02, 3.15337049e-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,
  7.20480691e-03,-4.27069660e-02, 7.93444390e-02, 7.00731640e-01,
 -8.74592009e-02,-7.02467468e-01,-8.86877327e-02]

qacc:
[ 1.82406217e-01, 3.51369900e+00,-9.24492005e+00, 5.38665737e+00,
 -1.31985566e-01,-2.32766166e+00, 1.30447424e+01,-2.89016300e+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,
  2.14067530e+00, 9.98445759e-01, 2.13623063e+00,-3.65064224e+00,
  1.04607871e+02, 8.36064908e+01]

qfrc_actuator:
[ 2.45679482e-03, 2.75194004e-02, 8.63853875e-03, 1.66111239e-03,
 -4.69053985e-05, 2.74418593e-02, 8.70268362e-03, 1.56238230e-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: -0.001807022668301593
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07196762e-14, -9.21590286e-14,  1.00000000e+00,  2.83109551e-27,
        1.00000000e+00,  9.21590286e-14, -1.00000000e+00,  0.00000000e+00,
        3.07196762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080886, -0.04688668,  0.06182709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34533686e-05, 1.17555774e-04,-2.44109608e-05,-8.90312793e-06,
 -2.38413162e-05, 8.90261746e-05, 4.82782825e-05,-3.74002953e-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,
  9.53201130e-05, 8.20757189e-05,-4.90500152e+00,-5.81831459e-05,
  3.07987357e-02, 7.19020047e-03]


--- Step 2321 ---
qpos:
[-2.50180676e-03, 8.65765591e-01,-2.37631509e-02, 3.96481640e-04,
 -2.95797795e-03, 8.61814565e-01,-2.70513824e-02, 3.15240894e-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,
  7.20706730e-03,-4.26928717e-02, 7.93483503e-02, 7.00744490e-01,
 -8.77713628e-02,-7.02456901e-01,-8.83609071e-02]

qacc:
[-1.07512412e-01,-1.05629407e+00, 6.12795439e+00,-1.42541064e+01,
  7.44508692e-03, 1.80554609e+00,-8.63387293e+00, 1.99934328e+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,
 -3.06632907e+00, 1.50427941e+00,-4.07329730e+00, 4.49348301e+00,
 -1.90112337e+02, 4.78968363e+01]

qfrc_actuator:
[ 2.42124762e-03, 2.74945098e-02, 8.63503209e-03, 1.63669572e-03,
 -3.42302809e-05, 2.74309640e-02, 8.69248089e-03, 1.59434480e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017919225508845685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54892719e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54892719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04933796, -0.05888417,  0.06182853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95861621e-05, 3.53764022e-05, 1.74456490e-05,-2.04020840e-05,
  1.36906640e-06, 4.72276639e-05, 1.28289025e-05, 3.67198834e-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,
  5.54544435e-04, 3.44759236e-04,-4.90502681e+00,-2.07787841e-05,
  3.07984204e-02, 7.18926024e-03]


--- Step 2322 ---
qpos:
[-2.50108880e-03, 8.65767826e-01,-2.37635471e-02, 3.96151888e-04,
 -2.95839953e-03, 8.61815880e-01,-2.70508096e-02, 3.15118009e-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,
  7.19789845e-03,-4.26731775e-02, 7.93343694e-02, 7.00517087e-01,
 -8.81720355e-02,-7.02686984e-01,-8.79346659e-02]

qacc:
[-7.15580218e-02,-2.52170422e+00, 9.33687901e+00,-1.41307851e+01,
  1.45460038e-01,-7.72407061e-01, 3.94921341e+00,-8.75535242e+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,
 -2.85731259e+00, 1.39995610e+00,-4.47306549e+00, 3.99420351e+00,
 -1.76973757e+02, 4.47444424e+01]

qfrc_actuator:
[ 2.41745282e-03, 2.74428823e-02, 8.65095955e-03, 1.62234722e-03,
 -8.60206595e-06, 2.74059631e-02, 8.68616586e-03, 1.57799921e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017788349667937978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56032325e-14, -2.34048488e-14,  1.00000000e+00,  3.65191298e-28,
        1.00000000e+00,  2.34048488e-14, -1.00000000e+00,  0.00000000e+00,
        1.56032325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04936084, -0.05889515,  0.0618297 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31337161e-05,-2.91743860e-05, 2.46640709e-05,-1.26285750e-05,
  2.62832122e-05, 5.59739764e-06, 6.27781795e-06,-1.31648946e-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,
  1.46896277e-05, 9.15173924e-05,-4.90500983e+00,-2.12659584e-05,
  3.07972576e-02, 7.18788228e-03]


--- Step 2323 ---
qpos:
[-2.50083405e-03, 8.65770502e-01,-2.37643436e-02, 3.95963586e-04,
 -2.95871493e-03, 8.61817167e-01,-2.70505516e-02, 3.15014788e-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,
  7.19538045e-03,-4.26597567e-02, 7.93372978e-02, 7.00437033e-01,
 -8.84517536e-02,-7.02770131e-01,-8.76264417e-02]

qacc:
[-2.43278237e-01, 1.99091295e+00,-6.85158634e+00, 9.61743142e+00,
  5.57450088e-02, 1.24797272e+00,-5.33213413e+00, 9.26043718e+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,
  1.66271395e+00,-1.56831757e+00, 4.22734712e+00, 9.36499562e-01,
  1.13756468e+02,-7.08767356e+01]

qfrc_actuator:
[ 2.37946590e-03, 2.74999838e-02, 8.64258483e-03, 1.63176649e-03,
 -1.09748123e-05, 2.73904160e-02, 8.66433742e-03, 1.58659641e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017814892073360821
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23199411e-14,  2.63820128e-07,  1.00000000e+00, -1.64412549e-20,
        1.00000000e+00, -2.63820128e-07, -1.00000000e+00,  0.00000000e+00,
        6.23199411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0034926 , -0.03494614,  0.06182938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42570422e-05, 4.52881089e-05,-1.18128304e-05, 8.77514876e-06,
  1.01041810e-05,-1.17154990e-05,-2.03680428e-05, 8.79661025e-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,
  2.08366100e-04,-5.22227869e-04,-4.90501771e+00,-2.41115842e-05,
  3.07965897e-02, 7.18580625e-03]


--- Step 2324 ---
qpos:
[-2.50122271e-03, 8.65773912e-01,-2.37656718e-02, 3.95169386e-04,
 -2.95918070e-03, 8.61818257e-01,-2.70502235e-02, 3.14956769e-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,
  7.19589598e-03,-4.26604491e-02, 7.93428775e-02, 7.00443329e-01,
 -8.84409190e-02,-7.02768873e-01,-8.75971388e-02]

qacc:
[-3.37983598e-01, 1.20665071e+00,-3.39074007e-01,-9.83441392e+00,
 -7.90613907e-02, 4.73042083e-01,-3.97420207e+00, 1.18309572e+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,
  7.58383427e-01,-3.52832839e+00, 6.62794912e-01, 3.86899669e+00,
  8.49676008e+01,-1.92263138e+02]

qfrc_actuator:
[ 2.33909715e-03, 2.75506625e-02, 8.62036614e-03, 1.60190324e-03,
 -3.00886448e-05, 2.73805887e-02, 8.66907871e-03, 1.60980225e-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: -0.0017981971408588676
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.17408959e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.17408959e-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([ 0.00682283, -0.0219218 ,  0.06182795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14698118e-05, 7.38762732e-05,-1.40309733e-05,-2.81632152e-05,
 -1.43188861e-05,-2.02380862e-05, 1.05831630e-07, 2.21692939e-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,
  1.47182721e-05,-9.85016522e-05,-4.90499467e+00, 3.39999976e-05,
  3.07970261e-02, 7.18498801e-03]


--- Step 2325 ---
qpos:
[-2.50198012e-03, 8.65777454e-01,-2.37664908e-02, 3.94028402e-04,
 -2.95983556e-03, 8.61819478e-01,-2.70496476e-02, 3.14817888e-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,
  7.19922277e-03,-4.26743288e-02, 7.93482204e-02, 7.00530149e-01,
 -8.81597797e-02,-7.02688966e-01,-8.78269997e-02]

qacc:
[-1.93084069e-01,-1.96026794e+00, 8.70871880e+00,-1.56243285e+01,
 -9.95169796e-02,-2.18234858e+00, 1.14468576e+01,-2.59367202e+01,
 -1.37309268e-01,-4.75940561e+00, 2.07247632e+01,-3.86630429e+01,
  9.03786439e-02, 3.32897205e-01,-1.94477153e+00, 6.73673095e+00,
  7.02814362e-01,-3.29680947e+00,-5.91833570e-02, 3.71655455e+00,
  7.91390516e+01,-1.78740895e+02]

qfrc_actuator:
[ 2.33317005e-03, 2.75437606e-02, 8.64339052e-03, 1.58466651e-03,
 -4.12804038e-05, 2.74098804e-02, 8.68950281e-03, 1.57042873e-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: -0.0017931635589603229
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09571042e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.09571042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682011, -0.0219174 ,  0.06182843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52321946e-05, 3.02280291e-05, 3.55647279e-05,-1.51069115e-05,
 -1.79915007e-05, 1.89169393e-05, 1.70146168e-05,-3.98063495e-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,
  2.74173103e-06, 2.35637378e-07,-4.90499887e+00, 4.83870479e-05,
  3.08000286e-02, 7.18559657e-03]


--- Step 2326 ---
qpos:
[-2.50294495e-03, 8.65780473e-01,-2.37664646e-02, 3.93787244e-04,
 -2.96064676e-03, 8.61820840e-01,-2.70491144e-02, 3.14600221e-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,
  7.20517482e-03,-4.27006199e-02, 7.93508635e-02, 7.00692322e-01,
 -8.76251978e-02,-7.02534892e-01,-8.82996026e-02]

qacc:
[-1.07999143e-01,-1.19877407e+00,-5.25481068e-01, 1.51288601e+01,
 -8.24640972e-02,-1.31465754e+00, 8.28565937e+00,-2.19585270e+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,
  6.56315357e-01,-3.10284994e+00,-6.74947364e-01, 3.55069514e+00,
  7.42823497e+01,-1.67491525e+02]

qfrc_actuator:
[ 2.33013799e-03, 2.74848651e-02, 8.67497982e-03, 1.62824683e-03,
 -4.76200693e-05, 2.74091361e-02, 8.68362563e-03, 1.53009268e-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: -0.0017707268518571684
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26987174e-14,  3.13493587e-14,  1.00000000e+00, -1.96556458e-27,
        1.00000000e+00, -3.13493587e-14, -1.00000000e+00,  0.00000000e+00,
        6.26987174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068119 , -0.0218954 ,  0.06183043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98338820e-05,-3.53730733e-05, 4.16724781e-05, 4.58102663e-05,
 -1.48771946e-05, 1.16084960e-05,-1.26363183e-06,-3.97119732e-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,
  2.45376246e-05,-9.55230919e-05,-4.90506132e+00, 1.33336603e-05,
  3.08061184e-02, 7.18817885e-03]


--- Step 2327 ---
qpos:
[-2.50402248e-03, 8.65783282e-01,-2.37666644e-02, 3.94450313e-04,
 -2.96138116e-03, 8.61822092e-01,-2.70485683e-02, 3.14373343e-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,
  7.19746738e-03,-4.27206298e-02, 7.93392425e-02, 7.00574733e-01,
 -8.72009424e-02,-7.02659990e-01,-8.86565162e-02]

qacc:
[-5.91118075e-02, 2.21505996e+00,-1.21172147e+01, 2.82831316e+01,
  4.04924699e-02,-3.70534502e-01, 1.49935786e+00,-3.03362865e+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,
 -3.41487291e+00, 1.57027679e+00,-3.56602195e+00, 2.05362470e+00,
 -2.06017232e+02, 5.47028768e+01]

qfrc_actuator:
[ 2.32882915e-03, 2.74663868e-02, 8.65791056e-03, 1.67170422e-03,
 -3.32529489e-05, 2.73903071e-02, 8.67991160e-03, 1.52498707e-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: -0.0017690260924852624
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56897491e-14, -5.49141220e-14,  1.00000000e+00,  8.61588798e-28,
        1.00000000e+00,  5.49141220e-14, -1.00000000e+00,  0.00000000e+00,
        1.56897491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04938458, -0.05889656,  0.06183059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07774265e-05,-2.77611404e-05,-1.76778778e-05, 4.42723173e-05,
  7.30722081e-06,-1.43353269e-05,-2.85829668e-06,-5.42442522e-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,
  7.41184336e-05,-3.49966410e-04,-4.90517226e+00,-6.49748897e-05,
  3.08146954e-02, 7.19248511e-03]


--- Step 2328 ---
qpos:
[-2.50497106e-03, 8.65785983e-01,-2.37673342e-02, 3.94942960e-04,
 -2.96161300e-03, 8.61823629e-01,-2.70482842e-02, 3.14207987e-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,
  7.19928873e-03,-4.27359766e-02, 7.93424730e-02, 7.00640569e-01,
 -8.68943324e-02,-7.02600497e-01,-8.89084362e-02]

qacc:
[ 6.73455290e-02, 8.18053915e-01,-2.40671052e+00, 2.90231494e-01,
  2.64444311e-01, 2.37238597e+00,-1.05122519e+01, 2.13727603e+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,
  2.38219670e+00, 1.16581077e+00, 3.71286889e+00,-4.50744210e+00,
  1.19309296e+02, 9.42893543e+01]

qfrc_actuator:
[ 2.34629511e-03, 2.74543019e-02, 8.63013188e-03, 1.66146563e-03,
  1.11202628e-05, 2.74318327e-02, 8.67745703e-03, 1.55839174e-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: -0.0017879677960288484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10470644e-14, -1.55235322e-14,  1.00000000e+00,  4.81960103e-28,
        1.00000000e+00,  1.55235322e-14, -1.00000000e+00,  0.00000000e+00,
        3.10470644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00081929, -0.04690413,  0.06182886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23176616e-05,-2.94281840e-05,-3.41784955e-05,-1.11824966e-05,
  4.78401696e-05, 3.26569607e-05,-5.96599553e-06, 3.25866667e-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,
  1.86565385e-04, 3.86329106e-04,-4.90512204e+00,-4.15489899e-05,
  3.08124389e-02, 7.18829048e-03]


--- Step 2329 ---
qpos:
[-2.50593111e-03, 8.65788375e-01,-2.37682489e-02, 3.94974324e-04,
 -2.96151535e-03, 8.61825697e-01,-2.70485005e-02, 3.14151388e-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,
  7.18836709e-03,-4.27453718e-02, 7.93299695e-02, 7.00443055e-01,
 -8.66892461e-02,-7.02804599e-01,-8.90516583e-02]

qacc:
[-6.08231962e-03,-6.72227747e-01, 3.75362767e+00,-1.11190088e+01,
  1.73092766e-01, 4.33552665e+00,-1.90331944e+01, 3.82705647e+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,
 -3.18574585e+00, 1.48786390e+00,-3.93349806e+00, 2.89591534e+00,
 -1.94093037e+02, 5.05849403e+01]

qfrc_actuator:
[ 2.33932411e-03, 2.74282833e-02, 8.61401463e-03, 1.63747504e-03,
  1.97827655e-05, 2.74737153e-02, 8.65827527e-03, 1.61423211e-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: -0.0017920328135679758
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09766377e-14, -2.32324783e-14,  1.00000000e+00,  7.19664063e-28,
        1.00000000e+00,  2.32324783e-14, -1.00000000e+00,  0.00000000e+00,
        3.09766377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934826, -0.05887384,  0.06182853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10611613e-06,-5.00683777e-05,-2.68091639e-05,-2.66556911e-05,
  3.13750707e-05, 6.02767377e-05,-1.20569883e-05, 5.76661707e-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,
  1.27673874e-05,-6.07056782e-05,-4.90507041e+00,-9.11011342e-05,
  3.08062303e-02, 7.19202140e-03]


--- Step 2330 ---
qpos:
[-2.50675031e-03, 8.65789345e-01,-2.37682939e-02, 3.94785010e-04,
 -2.96120917e-03, 8.61828192e-01,-2.70486121e-02, 3.14090181e-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,
  7.18708645e-03,-4.27500549e-02, 7.93324319e-02, 7.00428729e-01,
 -8.66010608e-02,-7.02824769e-01,-8.90909376e-02]

qacc:
[ 7.48842713e-02,-4.76212711e+00, 1.51847659e+01,-1.93531694e+01,
  1.09735289e-01, 1.76018773e-01, 3.84465673e-01,-1.66294676e+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,
  2.41024825e+00, 1.17805871e+00, 3.74146533e+00,-4.66500270e+00,
  1.19079051e+02, 9.36113785e+01]

qfrc_actuator:
[ 2.35328504e-03, 2.73053839e-02, 8.64036235e-03, 1.62334491e-03,
  2.47435042e-05, 2.74976984e-02, 8.66490554e-03, 1.61180491e-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: -0.0018079362183824194
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07041535e-14, -6.14083071e-14,  1.00000000e+00,  1.88549009e-27,
        1.00000000e+00,  6.14083071e-14, -1.00000000e+00,  0.00000000e+00,
        3.07041535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080392, -0.04690482,  0.06182706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34237915e-05,-1.57623242e-04, 1.17705449e-05,-1.77237984e-05,
  1.98607102e-05, 5.76255640e-05, 1.95751198e-05, 8.57674226e-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,
  3.17793578e-04, 2.06023858e-04,-4.90504665e+00,-7.90752250e-05,
  3.08050629e-02, 7.18841333e-03]


--- Step 2331 ---
qpos:
[-2.50741213e-03, 8.65788815e-01,-2.37678954e-02, 3.94813897e-04,
 -2.96077510e-03, 8.61830161e-01,-2.70475823e-02, 3.13928056e-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,
  7.19479626e-03,-4.27504062e-02, 7.93461114e-02, 7.00584844e-01,
 -8.66219051e-02,-7.02673931e-01,-8.90329624e-02]

qacc:
[ 8.33333228e-02,-2.76945863e+00, 6.07970046e+00,-1.91277995e+00,
  6.82054419e-02,-5.95535629e+00, 2.44910077e+01,-4.34031099e+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,
  2.24761540e+00, 1.08292540e+00, 2.80427791e+00,-4.24478811e+00,
  1.10716686e+02, 8.73713425e+01]

qfrc_actuator:
[ 2.36190478e-03, 2.72143577e-02, 8.65566709e-03, 1.63282759e-03,
  2.74723597e-05, 2.74220713e-02, 8.70437083e-03, 1.55736318e-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: -0.0018069213117371044
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07213994e-14, -6.14427987e-14,  1.00000000e+00,  1.88760876e-27,
        1.00000000e+00,  6.14427987e-14, -1.00000000e+00,  0.00000000e+00,
        3.07213994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080456, -0.04690728,  0.06182718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49990936e-05,-1.77513491e-04,-1.64192876e-05, 2.79174705e-06,
  1.21632549e-05,-3.93802246e-05, 5.37897637e-05,-5.12819390e-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,
  8.13649556e-06, 9.17338900e-06,-4.90501080e+00,-9.92679637e-05,
  3.08009267e-02, 7.19124094e-03]


--- Step 2332 ---
qpos:
[-2.50794327e-03, 8.65787830e-01,-2.37681009e-02, 3.96275499e-04,
 -2.96063865e-03, 8.61831420e-01,-2.70467725e-02, 3.13817604e-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,
  7.21096181e-03,-4.27467352e-02, 7.93678411e-02, 7.00900692e-01,
 -8.67452016e-02,-7.02362625e-01,-8.88832539e-02]

qacc:
[ 6.83773194e-02, 4.03370708e+00,-2.13040536e+01, 4.74028060e+01,
 -1.56600265e-01, 7.38453900e-01,-6.17775963e+00, 1.59961034e+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,
  2.11393229e+00, 1.00560021e+00, 2.01256257e+00,-3.88422805e+00,
  1.03796589e+02, 8.21894832e+01]

qfrc_actuator:
[ 2.36724692e-03, 2.72496170e-02, 8.64667189e-03, 1.70938526e-03,
 -6.64594900e-06, 2.73407173e-02, 8.67369534e-03, 1.57921003e-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: -0.0017888229405391143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20644447e-14,  1.55161112e-14,  1.00000000e+00, -9.62998824e-28,
        1.00000000e+00, -1.55161112e-14, -1.00000000e+00,  0.00000000e+00,
        6.20644447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00081762, -0.04691275,  0.06182885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24730484e-05,-6.72619349e-05,-4.75823531e-05, 6.84396012e-05,
 -2.83493750e-05,-9.45137047e-05,-3.39774740e-05, 2.10211499e-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,
  1.61047350e-04, 2.09301550e-05,-4.90500298e+00,-9.39361929e-05,
  3.07979512e-02, 7.19259710e-03]


--- Step 2333 ---
qpos:
[-2.50782000e-03, 8.65786815e-01,-2.37683704e-02, 3.97858010e-04,
 -2.96085743e-03, 8.61832748e-01,-2.70469302e-02, 3.13729417e-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,
  7.21449992e-03,-4.27370082e-02, 7.93738685e-02, 7.00952540e-01,
 -8.69673087e-02,-7.02316106e-01,-8.86245532e-02]

qacc:
[ 3.43092846e-01, 3.88394984e-01,-1.95224508e+00, 4.16952581e+00,
 -1.87716249e-01, 3.24970719e+00,-1.23964802e+01, 1.77502022e+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,
 -3.15685950e+00, 1.51397993e+00,-3.92559139e+00, 3.96500300e+00,
 -1.94624463e+02, 4.96798107e+01]

qfrc_actuator:
[ 2.42384414e-03, 2.72891923e-02, 8.65947197e-03, 1.71837032e-03,
 -2.69929463e-05, 2.73805912e-02, 8.63734549e-03, 1.59244992e-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: -0.0018020533959507076
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62065814e-14, -7.70109689e-15,  1.00000000e+00,  3.55841360e-28,
        1.00000000e+00,  7.70109689e-15, -1.00000000e+00,  0.00000000e+00,
        4.62065814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04933836, -0.05886334,  0.06182782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.25378215e-05,-4.90643000e-06,-4.57782854e-06, 5.78862218e-06,
 -3.38155738e-05,-1.91310532e-05,-5.93425022e-05, 8.42321829e-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,
  6.90781975e-04, 2.04004738e-04,-4.90501867e+00,-6.67827875e-05,
  3.07958088e-02, 7.19272521e-03]


--- Step 2334 ---
qpos:
[-2.50703418e-03, 8.65786410e-01,-2.37684750e-02, 3.98054643e-04,
 -2.96136998e-03, 8.61834048e-01,-2.70470479e-02, 3.13686443e-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,
  7.20630350e-03,-4.27216447e-02, 7.93625098e-02, 7.00759161e-01,
 -8.72811854e-02,-7.02515450e-01,-8.82645775e-02]

qacc:
[ 3.47207210e-01,-2.50793357e+00, 1.59606451e+01,-4.06579747e+01,
 -1.54650667e-01, 7.82896217e-01,-4.75263669e+00, 1.25346637e+01,
  6.35115784e-02, 1.19580263e+00,-6.95730740e+00, 1.71540171e+01,
 -5.04610066e-02, 8.90474148e-01,-4.87782501e+00, 1.65557020e+01,
 -2.93363233e+00, 1.40911541e+00,-4.34650219e+00, 3.63188259e+00,
 -1.80753425e+02, 4.61624435e+01]

qfrc_actuator:
[ 2.45736052e-03, 2.73666189e-02, 8.68505084e-03, 1.65204528e-03,
 -3.89004857e-05, 2.74039428e-02, 8.65168436e-03, 1.61836564e-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: -0.0017945525517471042
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54665716e-14,  2.31998575e-14,  1.00000000e+00, -3.58822258e-28,
        1.00000000e+00, -2.31998575e-14, -1.00000000e+00,  0.00000000e+00,
        1.54665716e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935237, -0.05886903,  0.06182852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.33363188e-05, 7.40166917e-05, 2.42086619e-05,-6.65823697e-05,
 -2.79610888e-05, 7.25674209e-07, 3.36024044e-06, 2.32062549e-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,
  3.86920939e-05, 1.11298210e-04,-4.90498676e+00,-6.48552723e-05,
  3.07941315e-02, 7.18984020e-03]


--- Step 2335 ---
qpos:
[-2.50572950e-03, 8.65786757e-01,-2.37687008e-02, 3.97800684e-04,
 -2.96190637e-03, 8.61834833e-01,-2.70471209e-02, 3.13784672e-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,
  7.18713798e-03,-4.27010052e-02, 7.93323124e-02, 7.00336056e-01,
 -8.76809314e-02,-7.02944451e-01,-8.78098085e-02]

qacc:
[ 2.71690765e-01, 4.03871126e-01, 1.90258532e+00,-1.00584227e+01,
 -1.22625872e-02, 2.09810835e+00,-1.44322726e+01, 3.91801609e+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,
 -2.74227438e+00, 1.31903018e+00,-4.70969621e+00, 3.31994613e+00,
 -1.69086731e+02, 4.32152363e+01]

qfrc_actuator:
[ 2.47675849e-03, 2.74128712e-02, 8.68258843e-03, 1.63075576e-03,
 -2.79111034e-05, 2.73464394e-02, 8.64255825e-03, 1.68707359e-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: -0.0017683219114929885
  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([ 0.04939626, -0.05888825,  0.06183074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96077164e-05, 8.98050531e-05, 1.35048375e-05,-1.85776291e-05,
 -2.28371826e-06,-5.54425535e-05,-7.76736657e-06, 6.93063218e-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,
  1.59309270e-04,-3.71044925e-04,-4.90498386e+00,-6.64687425e-05,
  3.07930413e-02, 7.18655715e-03]


--- Step 2336 ---
qpos:
[-2.50499304e-03, 8.65787407e-01,-2.37687943e-02, 3.97678930e-04,
 -2.96238239e-03, 8.61835055e-01,-2.70468790e-02, 3.13859667e-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,
  7.17811891e-03,-4.26754041e-02, 7.93195770e-02, 7.00101407e-01,
 -8.82005846e-02,-7.03183007e-01,-8.72487060e-02]

qacc:
[-2.97948997e-01, 3.03361078e-01,-1.05741047e+00, 2.91021659e+00,
  3.21759836e-02,-2.09934005e+00, 7.38881802e+00,-1.15021095e+01,
 -8.36907680e-02,-2.61075592e+00, 6.08384198e+00, 1.38632514e+00,
 -7.31299302e-02, 4.04535947e-02,-1.93928239e+00, 6.90976142e+00,
  2.53661105e+00, 1.24036532e+00, 4.36550859e+00,-4.71388212e+00,
  1.22998890e+02, 9.60019591e+01]

qfrc_actuator:
[ 2.39880092e-03, 2.74045277e-02, 8.68127409e-03, 1.63610662e-03,
 -2.10886174e-05, 2.73119332e-02, 8.65483750e-03, 1.67380033e-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: -0.0017905807767243343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.87195996e-07, -6.87196016e-07,  1.00000000e+00, -4.72238351e-13,
        1.00000000e+00,  6.87196016e-07, -1.00000000e+00, -1.00974196e-28,
       -6.87195996e-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([-0.00066069, -0.04680442,  0.0618286 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42938457e-05, 4.38644622e-05, 1.82519882e-05, 9.30292151e-06,
  5.73064616e-06,-6.41635480e-05, 2.26364153e-06,-1.45706252e-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,
  9.05291975e-04,-1.16776718e-03,-4.90500212e+00,-6.95066503e-05,
  3.07925077e-02, 7.18294873e-03]


--- Step 2337 ---
qpos:
[-2.50520226e-03, 8.65788363e-01,-2.37683347e-02, 3.97938073e-04,
 -2.96297184e-03, 8.61835193e-01,-2.70455196e-02, 3.13802774e-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,
  7.17254851e-03,-4.26653609e-02, 7.93141680e-02, 6.99961967e-01,
 -8.83971741e-02,-7.03328073e-01,-8.69988852e-02]

qacc:
[-4.95586328e-01,-3.54844947e-01, 2.46411965e-01, 5.23429500e+00,
 -5.90732977e-02,-5.94272781e+00, 2.66004217e+01,-5.11595783e+01,
  1.23013994e-01, 8.26644842e-01,-1.49374689e+00,-3.33341250e+00,
 -7.68088220e-02, 3.31657598e-01, 1.05344261e+00,-3.41082754e+00,
  8.62167452e-01,-3.88945196e+00, 1.83161092e+00, 3.76504610e+00,
  9.40218566e+01,-2.14274464e+02]

qfrc_actuator:
[ 2.33432010e-03, 2.74345847e-02, 8.71594866e-03, 1.65703915e-03,
 -3.45935656e-05, 2.73624888e-02, 8.73292996e-03, 1.61241790e-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: -0.0018240151876025984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04334918e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04334918e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681373, -0.02197   ,  0.0618256 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03647505e-05, 5.87305923e-05, 4.63006276e-05, 2.36243866e-05,
 -1.07924102e-05, 1.45125313e-05, 6.46107272e-05,-6.43382777e-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,
  1.93314693e-04,-6.52732928e-04,-4.90500682e+00,-7.13733622e-06,
  3.07935901e-02, 7.18360947e-03]


--- Step 2338 ---
qpos:
[-2.50570318e-03, 8.65789828e-01,-2.37680781e-02, 3.98472253e-04,
 -2.96369720e-03, 8.61835944e-01,-2.70443929e-02, 3.13673003e-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,
  7.17013160e-03,-4.26697043e-02, 7.93124799e-02, 6.99910682e-01,
 -8.82964667e-02,-7.03387284e-01,-8.70350474e-02]

qacc:
[-1.53229432e-01, 1.80350396e+00,-6.61804220e+00, 1.13303322e+01,
 -7.19886952e-02,-3.95097348e-02, 4.39344378e+00,-1.70851844e+01,
  1.57366805e-01, 3.44694723e+00,-7.64256647e+00,-5.47780999e+00,
 -9.42282589e-02, 3.98080305e-01, 1.73524294e+00,-5.89878095e+00,
  7.88373928e-01,-3.59665226e+00, 9.30196149e-01, 3.63994732e+00,
  8.66208496e+01,-1.97007917e+02]

qfrc_actuator:
[ 2.34954061e-03, 2.74520523e-02, 8.70073256e-03, 1.66926647e-03,
 -4.23927000e-05, 2.74105698e-02, 8.72531320e-03, 1.57660735e-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: -0.0018450985165501949
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01714767e-14, -3.00857384e-14,  1.00000000e+00,  1.81030331e-27,
        1.00000000e+00,  3.00857384e-14, -1.00000000e+00,  0.00000000e+00,
        6.01714767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681919, -0.0219931 ,  0.06182374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78620166e-05, 6.08459082e-05, 3.42540039e-06, 1.68043329e-05,
 -1.29202625e-05, 6.67691919e-05, 1.10344453e-06,-3.42061906e-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,
  8.94508066e-05,-1.82884299e-04,-4.90497538e+00, 6.33934049e-05,
  3.07972241e-02, 7.18283208e-03]


--- Step 2339 ---
qpos:
[-2.50642933e-03, 8.65791281e-01,-2.37680154e-02, 3.98870811e-04,
 -2.96453220e-03, 8.61836950e-01,-2.70441322e-02, 3.13613992e-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,
  7.17062220e-03,-4.26874538e-02, 7.93114367e-02, 6.99941307e-01,
 -8.79199196e-02,-7.03366652e-01,-8.73361686e-02]

qacc:
[-1.18217280e-01, 2.47585458e-01,-3.31825472e-01,-1.69674399e+00,
 -5.83368744e-02, 4.20845120e+00,-1.75074918e+01, 3.09568389e+01,
 -5.73222804e-02, 1.41795283e+00,-6.47174490e+00, 1.04547441e+01,
 -1.06026441e-01, 1.16197605e-01, 2.09545620e+00,-7.22886309e+00,
  7.26877863e-01,-3.35152066e+00, 1.61243789e-01, 3.48881399e+00,
  8.04501299e+01,-1.82645398e+02]

qfrc_actuator:
[ 2.34129566e-03, 2.74083844e-02, 8.67386936e-03, 1.65847154e-03,
 -4.67004841e-05, 2.73854919e-02, 8.66717424e-03, 1.60933526e-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: -0.0018430548517092346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.02381977e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.02381977e-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([ 0.00681734, -0.02199248,  0.06182391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15258407e-05,-8.25665682e-06,-1.33065789e-05,-7.74575023e-06,
 -1.04321504e-05, 1.09938060e-05,-4.54101430e-05, 3.49598326e-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,
  3.26746594e-05, 2.38132379e-05,-4.90501485e+00, 7.38747127e-05,
  3.08042964e-02, 7.18430250e-03]


--- Step 2340 ---
qpos:
[-2.50712436e-03, 8.65792326e-01,-2.37675638e-02, 4.00184864e-04,
 -2.96562867e-03, 8.61837948e-01,-2.70439052e-02, 3.13592335e-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,
  7.17381482e-03,-4.27177865e-02, 7.93084133e-02, 7.00048296e-01,
 -8.72854105e-02,-7.03270864e-01,-8.78847716e-02]

qacc:
[ 1.67496536e-02, 2.58214566e-01,-5.56852878e+00, 2.10905216e+01,
 -1.37704962e-01, 8.51977017e-01,-4.63090915e+00, 1.11568354e+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,
  6.75503288e-01,-3.14581239e+00,-4.95051881e-01, 3.31885174e+00,
  7.53023969e+01,-1.70693853e+02]

qfrc_actuator:
[ 2.35452692e-03, 2.73816089e-02, 8.69334794e-03, 1.70517442e-03,
 -6.66380097e-05, 2.73876425e-02, 8.66821137e-03, 1.62878349e-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: -0.0018223649558428423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04610507e-14, -6.09221013e-14,  1.00000000e+00,  1.85575121e-27,
        1.00000000e+00,  6.09221013e-14, -1.00000000e+00,  0.00000000e+00,
        3.04610507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00680967, -0.02197298,  0.06182571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96377529e-06,-3.45091561e-05, 1.58541282e-05, 4.57353888e-05,
 -2.48881422e-05, 3.90844185e-07,-1.08635716e-06, 1.90270795e-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,
  1.37260440e-05, 2.15195558e-05,-4.90511072e+00, 3.32099565e-05,
  3.08141395e-02, 7.18771672e-03]


--- Step 2341 ---
qpos:
[-2.50716163e-03, 8.65793260e-01,-2.37663581e-02, 4.00947784e-04,
 -2.96678233e-03, 8.61839593e-01,-2.70444913e-02, 3.13522019e-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,
  7.18600334e-03,-4.27436554e-02, 7.93186970e-02, 7.00333772e-01,
 -8.67664453e-02,-7.02995020e-01,-8.83300273e-02]

qacc:
[ 3.45361481e-01,-3.38528578e+00, 1.41865347e+01,-2.48521001e+01,
 -3.08905813e-02, 2.12179132e+00,-4.27357374e+00,-3.32005393e+00,
  2.01543594e-01,-3.56835660e-01, 4.97623739e+00,-1.69672802e+01,
 -8.61670058e-02,-1.84304747e-01,-1.44750743e+00, 5.02626554e+00,
  2.24897608e+00, 1.11594924e+00, 3.32677568e+00,-4.22488857e+00,
  1.16198738e+02, 9.25047349e+01]

qfrc_actuator:
[ 2.41598291e-03, 2.74008765e-02, 8.74012636e-03, 1.67886334e-03,
 -6.02524202e-05, 2.74417967e-02, 8.63325793e-03, 1.60480967e-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: -0.001825897569944522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08042336e-14, -3.04021168e-14,  1.00000000e+00,  1.84857741e-27,
        1.00000000e+00,  3.04021168e-14, -1.00000000e+00,  0.00000000e+00,
        6.08042336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078596, -0.04692585,  0.06182537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.28613881e-05, 5.17568233e-06, 4.31740678e-05,-2.63545726e-05,
 -5.42879831e-06, 5.49350049e-05,-3.43570642e-05,-2.36254793e-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,
  2.56939670e-05,-1.49843943e-04,-4.90525292e+00,-5.19180224e-05,
  3.08261584e-02, 7.19281855e-03]


--- Step 2342 ---
qpos:
[-2.50631784e-03, 8.65794743e-01,-2.37650457e-02, 3.99276822e-04,
 -2.96773092e-03, 8.61841042e-01,-2.70455056e-02, 3.13500799e-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,
  7.20666366e-03,-4.27654077e-02, 7.93387846e-02, 7.00785667e-01,
 -8.63550567e-02,-7.02551278e-01,-8.86789375e-02]

qacc:
[ 4.61703146e-01,-4.58337856e+00, 2.76676403e+01,-7.03654793e+01,
  1.07823225e-01, 1.94800024e+00,-9.39284276e+00, 1.87203823e+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,
  2.11795025e+00, 1.02916693e+00, 2.45098620e+00,-4.00004998e+00,
  1.08356971e+02, 8.61836931e+01]

qfrc_actuator:
[ 2.47022939e-03, 2.74476347e-02, 8.74950614e-03, 1.55658641e-03,
 -3.81726591e-05, 2.73844804e-02, 8.59525549e-03, 1.62650386e-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: -0.0018164864261362296
  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([-0.00079102, -0.04692915,  0.06182624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42168478e-05, 5.74152145e-05, 1.48369647e-05,-1.21079281e-04,
  1.95103562e-05,-3.47399468e-05,-3.17150729e-05, 2.23979919e-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,
  3.36255288e-04,-7.54086787e-04,-4.90519661e+00,-1.20441779e-04,
  3.08170903e-02, 7.19757441e-03]


--- Step 2343 ---
qpos:
[-2.50546523e-03, 8.65795861e-01,-2.37639097e-02, 3.98018457e-04,
 -2.96844015e-03, 8.61841703e-01,-2.70463909e-02, 3.13509668e-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,
  7.21299010e-03,-4.27805918e-02, 7.93460251e-02, 7.00942283e-01,
 -8.60591711e-02,-7.02402595e-01,-8.89062891e-02]

qacc:
[ 4.66249312e-03, 8.60284261e-01,-5.50845233e+00, 1.31999883e+01,
  1.26444306e-01,-7.83506923e-01, 9.96966718e-03, 5.57109145e+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,
 -3.58347067e+00, 1.64202198e+00,-3.21180604e+00, 2.56254709e+00,
 -2.17480607e+02, 5.73342955e+01]

qfrc_actuator:
[ 2.43090060e-03, 2.73682518e-02, 8.71903964e-03, 1.57411213e-03,
 -2.46684021e-05, 2.73141221e-02, 8.59086927e-03, 1.63931068e-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: -0.0018138154877623547
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53023148e-14, -1.53023148e-14,  1.00000000e+00,  2.34160839e-28,
        1.00000000e+00,  1.53023148e-14, -1.00000000e+00,  0.00000000e+00,
        1.53023148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04933148, -0.05883186,  0.06182658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.31291993e-07,-4.94342038e-05,-2.09921527e-05, 1.81387793e-05,
  2.27614265e-05,-9.53984581e-05,-1.46967011e-05, 1.06562588e-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,
  1.04854252e-03,-1.12773855e-03,-4.90517057e+00,-1.63575924e-04,
  3.08092065e-02, 7.20088611e-03]


--- Step 2344 ---
qpos:
[-2.50485897e-03, 8.65796500e-01,-2.37627428e-02, 3.96635885e-04,
 -2.96876286e-03, 8.61842333e-01,-2.70473167e-02, 3.13456134e-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,
  7.20615983e-03,-4.27897076e-02, 7.93383156e-02, 7.00827733e-01,
 -8.58684576e-02,-7.02525575e-01,-8.90219822e-02]

qacc:
[-1.28981220e-01,-9.74020362e-01, 3.07989066e+00,-4.92792408e+00,
  2.03508734e-01,-1.20990711e+00, 6.89221983e+00,-1.76071326e+01,
  3.78272482e-02, 1.07828448e+00,-5.89605588e+00, 1.16804659e+01,
 -5.56755904e-02, 3.94927224e-02, 5.26162591e+00,-1.83877686e+01,
 -3.28917808e+00, 1.51710826e+00,-3.73748561e+00, 2.76283423e+00,
 -1.99923631e+02, 5.23258934e+01]

qfrc_actuator:
[ 2.40695699e-03, 2.73381462e-02, 8.71816386e-03, 1.56713071e-03,
  1.32685253e-06, 2.73608800e-02, 8.60626691e-03, 1.61127349e-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([ 8.63636364,  8.59537967,  0.84037204,  8.59537967,  9.43445217,
       -8.16290122,  0.84037204, -8.16290122, 92.12704588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018357367384175885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.02391678e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.02391678e-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([ 0.04929697, -0.05881276,  0.06182471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35561915e-05,-6.13419890e-05,-1.30603533e-05,-9.47412299e-06,
  3.67881555e-05,-9.17159304e-06,-5.74518309e-06,-3.24252461e-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,
  1.05592806e-04,-2.22189209e-04,-4.90508417e+00,-1.38476669e-04,
  3.08059829e-02, 7.19540939e-03]


--- Step 2345 ---
qpos:
[-2.50452188e-03, 8.65798107e-01,-2.37624649e-02, 3.93675830e-04,
 -2.96892589e-03, 8.61843074e-01,-2.70478861e-02, 3.13330192e-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,
  7.18717237e-03,-4.27931814e-02, 7.93138437e-02, 7.00461956e-01,
 -8.57742755e-02,-7.02900214e-01,-8.90343238e-02]

qacc:
[-1.42116978e-01, 5.13943678e-01, 6.68034798e+00,-3.32686944e+01,
  8.42440006e-02,-2.33898278e+00, 1.16082624e+01,-2.47929992e+01,
  2.40740646e-01,-1.15281783e+00, 2.56354665e+00,-1.13747650e+00,
 -6.41152129e-02, 1.64725267e-01, 2.98258803e+00,-1.06345824e+01,
 -3.03929612e+00, 1.41048528e+00,-4.19058431e+00, 2.89302066e+00,
 -1.85165756e+02, 4.81366062e+01]

qfrc_actuator:
[ 2.39249613e-03, 2.74621354e-02, 8.69940046e-03, 1.49255889e-03,
 -9.31449122e-07, 2.73887001e-02, 8.63365267e-03, 1.57728711e-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: -0.0018326428032284375
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02902187e-14,  5.30078827e-14,  1.00000000e+00, -1.60562036e-27,
        1.00000000e+00, -5.30078827e-14, -1.00000000e+00,  0.00000000e+00,
        3.02902187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04930304, -0.05881255,  0.06182493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57017890e-05, 8.65582983e-05,-3.33816109e-05,-7.78363497e-05,
  1.52041960e-05, 2.01135354e-05, 2.36640886e-05,-3.52085793e-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,
  1.28891811e-04, 1.17511064e-04,-4.90504276e+00,-1.25167384e-04,
  3.08038897e-02, 7.19048920e-03]


--- Step 2346 ---
qpos:
[-2.50440352e-03, 8.65800064e-01,-2.37628946e-02, 3.90601883e-04,
 -2.96940054e-03, 8.61843370e-01,-2.70478986e-02, 3.13204757e-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,
  7.17836262e-03,-4.27915546e-02, 7.93071259e-02, 7.00288181e-01,
 -8.58016878e-02,-7.03081987e-01,-8.89396064e-02]

qacc:
[-1.15248843e-01, 2.20317699e+00,-6.70556191e+00, 5.61138058e+00,
 -1.63606059e-01,-2.13096705e+00, 6.72602260e+00,-7.20506275e+00,
  2.46861248e-01,-4.40681783e+00, 1.68112466e+01,-2.55218597e+01,
 -5.68956269e-02,-3.22330937e-01,-5.95700696e+00, 1.99858992e+01,
  2.54442707e+00, 1.27513123e+00, 4.43852034e+00,-5.31165772e+00,
  1.25021944e+02, 9.70484811e+01]

qfrc_actuator:
[ 2.38384629e-03, 2.74465423e-02, 8.65305944e-03, 1.48545157e-03,
 -3.78222921e-05, 2.73340195e-02, 8.65009814e-03, 1.57558612e-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: -0.0018322029221490704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.05949817e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.05949817e-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([-0.00077722, -0.04693654,  0.06182482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08957067e-05, 2.25403492e-05,-3.52808162e-05,-6.06794144e-06,
 -2.96708181e-05,-4.00639577e-05, 2.22968327e-05,-7.04216518e-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,
  9.12241862e-04, 1.32705375e-05,-4.90503547e+00,-1.19402002e-04,
  3.08027156e-02, 7.18578587e-03]


--- Step 2347 ---
qpos:
[-2.50425684e-03, 8.65801233e-01,-2.37630976e-02, 3.87549584e-04,
 -2.96987860e-03, 8.61843135e-01,-2.70482300e-02, 3.13223710e-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,
  7.17897680e-03,-4.27852778e-02, 7.93139642e-02, 7.00292116e-01,
 -8.59421629e-02,-7.03085518e-01,-8.87448689e-02]

qacc:
[ 1.52601218e-02,-1.62937497e+00, 4.20808292e+00,-3.61833875e+00,
 -1.72965018e-03, 3.15901771e+00,-1.83791571e+01, 4.42724878e+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,
  2.35598124e+00, 1.16251911e+00, 3.38901201e+00,-4.72962678e+00,
  1.15564652e+02, 9.03171985e+01]

qfrc_actuator:
[ 2.39649289e-03, 2.73474307e-02, 8.64360391e-03, 1.48248509e-03,
 -2.40747012e-05, 2.72836070e-02, 8.62413099e-03, 1.64607475e-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: -0.0018423255625498042
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01310216e-14, -3.01310216e-14,  1.00000000e+00,  9.07878460e-28,
        1.00000000e+00,  3.01310216e-14, -1.00000000e+00,  0.00000000e+00,
        3.01310216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077007, -0.04693774,  0.06182391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68325798e-06,-9.40951856e-05,-9.36404080e-06,-3.33747712e-06,
 -3.42165067e-07,-6.82493412e-05,-3.15184950e-05, 6.95323285e-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,
  1.92205704e-04,-9.22094526e-05,-4.90499082e+00,-1.29719389e-04,
  3.07985769e-02, 7.18960698e-03]


--- Step 2348 ---
qpos:
[-2.50420393e-03, 8.65801920e-01,-2.37631854e-02, 3.84109510e-04,
 -2.97008314e-03, 8.61842608e-01,-2.70492057e-02, 3.13291693e-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,
  7.18839415e-03,-4.27747158e-02, 7.93308100e-02, 7.00461761e-01,
 -8.61885641e-02,-7.02922754e-01,-8.84559439e-02]

qacc:
[-4.89401874e-02,-1.75566513e+00, 6.97378121e+00,-1.35161850e+01,
  1.43777494e-01, 2.42176534e+00,-1.12655791e+01, 2.09993206e+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,
  2.20079357e+00, 1.07129832e+00, 2.50186963e+00,-4.23679787e+00,
  1.07733809e+02, 8.47157909e+01]

qfrc_actuator:
[ 2.38625257e-03, 2.73412270e-02, 8.65562835e-03, 1.46416051e-03,
  2.11975934e-06, 2.72715249e-02, 8.59112200e-03, 1.66967317e-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: -0.001832800188922297
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.02876176e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.02876176e-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([-0.00077716, -0.04694225,  0.0618248 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.97411326e-06,-6.09184530e-05,-8.68145845e-06,-2.27413024e-05,
  2.60229754e-05,-5.37683466e-05,-4.85767837e-05, 2.09378909e-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,
  6.10280032e-06, 1.91472156e-05,-4.90497723e+00,-1.12712658e-04,
  3.07958500e-02, 7.19164703e-03]


--- Step 2349 ---
qpos:
[-2.50463131e-03, 8.65802530e-01,-2.37630596e-02, 3.80416752e-04,
 -2.97036685e-03, 8.61842568e-01,-2.70506370e-02, 3.13272437e-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,
  7.20610543e-03,-4.27601632e-02, 7.93546666e-02, 7.00787026e-01,
 -8.65349249e-02,-7.02603430e-01,-8.80776440e-02]

qacc:
[-2.51673807e-01,-1.21797943e+00, 5.26289190e+00,-9.92262755e+00,
 -4.22085572e-02, 1.19662543e-01, 4.18844532e+00,-1.89153564e+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,
  2.07348490e+00, 9.97652311e-01, 1.75271357e+00,-3.81516863e+00,
  1.01253774e+02, 8.00633234e+01]

qfrc_actuator:
[ 2.34463821e-03, 2.73730243e-02, 8.68056169e-03, 1.45477445e-03,
 -1.77511292e-05, 2.73534243e-02, 8.58984603e-03, 1.63000821e-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: -0.001807566644581482
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07104313e-14,  3.07104313e-14,  1.00000000e+00, -9.43130590e-28,
        1.00000000e+00, -3.07104313e-14, -1.00000000e+00,  0.00000000e+00,
        3.07104313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079556, -0.04694943,  0.06182711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59012269e-05,-5.04600812e-06, 1.04956957e-05,-1.27343379e-05,
 -7.52426848e-06, 4.27205095e-05,-1.76304441e-05,-4.32411945e-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,
  2.48669948e-04, 3.06684829e-04,-4.90498846e+00,-7.25992805e-05,
  3.07941146e-02, 7.19224777e-03]


--- Step 2350 ---
qpos:
[-2.50591562e-03, 8.65802792e-01,-2.37623392e-02, 3.78029054e-04,
 -2.97062535e-03, 8.61843520e-01,-2.70526841e-02, 3.13165680e-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,
  7.21160449e-03,-4.27397769e-02, 7.93620482e-02, 7.00855971e-01,
 -8.69771664e-02,-7.02540550e-01,-8.75936937e-02]

qacc:
[-4.48739585e-01, 5.66551986e-01,-8.19475420e+00, 3.00843449e+01,
  1.24869227e-02, 1.22898885e+00, 1.21350262e+00,-1.61004525e+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,
 -3.05305875e+00, 1.45843162e+00,-4.11873990e+00, 3.72246188e+00,
 -1.88695233e+02, 4.83186505e+01]

qfrc_actuator:
[ 2.28462346e-03, 2.73563993e-02, 8.71309576e-03, 1.52178206e-03,
 -1.17600417e-05, 2.74377933e-02, 8.57217377e-03, 1.58905706e-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: -0.0017814320125757177
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11609710e-14,  7.79024274e-15,  1.00000000e+00, -2.42751528e-28,
        1.00000000e+00, -7.79024274e-15, -1.00000000e+00,  0.00000000e+00,
        3.11609710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04939724, -0.05884656,  0.06182954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.19024549e-05,-1.78389451e-05, 3.23449733e-05, 6.69120410e-05,
  2.42551204e-06, 1.02775499e-04,-1.25062394e-05,-4.05703690e-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,
  8.43514921e-04, 7.40881830e-04,-4.90502134e+00,-1.24857416e-05,
  3.07930324e-02, 7.19165768e-03]


--- Step 2351 ---
qpos:
[-2.50760308e-03, 8.65802882e-01,-2.37615643e-02, 3.77168270e-04,
 -2.97083300e-03, 8.61844792e-01,-2.70550163e-02, 3.13051554e-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,
  7.20571512e-03,-4.27139389e-02, 7.93513861e-02, 7.00686001e-01,
 -8.75088525e-02,-7.02716426e-01,-8.70112204e-02]

qacc:
[-2.11198400e-01, 2.76243477e+00,-1.66260822e+01, 4.30925062e+01,
  2.64822257e-02, 1.06534907e+00,-2.87649324e+00, 1.82384834e+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,
 -2.84710626e+00, 1.36292178e+00,-4.51093380e+00, 3.33094594e+00,
 -1.75792911e+02, 4.50975343e+01]

qfrc_actuator:
[ 2.28514775e-03, 2.73465283e-02, 8.71421868e-03, 1.59766393e-03,
 -8.07711866e-06, 2.74164277e-02, 8.54500606e-03, 1.58319103e-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: -0.0017673764931842167
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14087867e-14,  3.92609833e-14,  1.00000000e+00, -1.23313985e-27,
        1.00000000e+00, -3.92609833e-14, -1.00000000e+00,  0.00000000e+00,
        3.14087867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04942249, -0.05885723,  0.06183081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85321213e-05,-1.03152055e-05, 3.73729517e-06, 7.75431752e-05,
  4.84774901e-06, 3.17785686e-05,-8.87678393e-06,-2.68265172e-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,
  9.08685505e-05, 3.33304678e-04,-4.90499175e+00,-1.60623249e-05,
  3.07907576e-02, 7.18797838e-03]


--- Step 2352 ---
qpos:
[-2.50928428e-03, 8.65803491e-01,-2.37615970e-02, 3.76848954e-04,
 -2.97136564e-03, 8.61845823e-01,-2.70568326e-02, 3.12933024e-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,
  7.20331398e-03,-4.27034481e-02, 7.93473689e-02, 7.00610098e-01,
 -8.77213764e-02,-7.02799541e-01,-8.67367044e-02]

qacc:
[ 2.61714919e-03, 4.05585917e+00,-1.57520866e+01, 2.60361248e+01,
 -1.70749139e-01,-1.84784907e+00, 6.31485254e+00,-7.72779746e+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,
  8.72058739e-01,-3.83681626e+00, 1.66122245e+00, 3.69309670e+00,
  9.29097744e+01,-2.11879774e+02]

qfrc_actuator:
[ 2.30413183e-03, 2.73939314e-02, 8.67904454e-03, 1.62486858e-03,
 -4.13200793e-05, 2.73851557e-02, 8.56531460e-03, 1.58017213e-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: -0.0017721526967943019
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13241355e-14, -9.39724066e-14,  1.00000000e+00,  2.94360440e-27,
        1.00000000e+00,  9.39724066e-14, -1.00000000e+00,  0.00000000e+00,
        3.13241355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00677171, -0.02194084,  0.06183032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08426149e-07, 4.57205763e-05,-3.41641187e-05, 2.84023545e-05,
 -3.09376936e-05,-1.54600845e-05, 2.56951475e-05,-2.01374293e-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,
  7.57477302e-05,-4.20099444e-04,-4.90498831e+00,-2.09626630e-05,
  3.07891360e-02, 7.18396139e-03]


--- Step 2353 ---
qpos:
[-2.51065066e-03, 8.65804966e-01,-2.37625365e-02, 3.76474848e-04,
 -2.97207110e-03, 8.61845832e-01,-2.70574200e-02, 3.12816983e-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,
  7.20410223e-03,-4.27071785e-02, 7.93465133e-02, 7.00621528e-01,
 -8.76397445e-02,-7.02797249e-01,-8.67454710e-02]

qacc:
[ 1.64184472e-01, 3.56218906e+00,-1.08123543e+01, 1.06819065e+01,
 -8.98776852e-02,-4.72733800e+00, 1.47958072e+01,-1.55857048e+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,
  7.97346175e-01,-3.55529427e+00, 7.90401449e-01, 3.62535536e+00,
  8.57884723e+01,-1.95068259e+02]

qfrc_actuator:
[ 2.33394363e-03, 2.74573229e-02, 8.64068509e-03, 1.62324159e-03,
 -4.31051730e-05, 2.72951139e-02, 8.61342202e-03, 1.57886133e-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: -0.0017924684170070523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.09691098e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.09691098e-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([ 0.00677669, -0.02196342,  0.06182852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01063676e-05, 8.31081120e-05,-3.21456692e-05,-2.98196218e-07,
 -1.64731977e-05,-9.34785143e-05, 4.80191751e-05,-1.11944057e-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,
  2.11437800e-05,-8.70524170e-05,-4.90496545e+00, 4.36950689e-05,
  3.07936953e-02, 7.18374470e-03]


--- Step 2354 ---
qpos:
[-2.51149010e-03, 8.65806469e-01,-2.37633334e-02, 3.75773905e-04,
 -2.97267926e-03, 8.61844854e-01,-2.70575857e-02, 3.12705575e-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,
  7.20783131e-03,-4.27241867e-02, 7.93458477e-02, 7.00714316e-01,
 -8.72847814e-02,-7.02715342e-01,-8.70170225e-02]

qacc:
[ 2.76347433e-01,-1.03493058e+00, 5.12248767e+00,-1.10277642e+01,
  5.18685292e-02,-2.38513237e+00, 6.41727513e+00,-5.56668462e+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,
  7.35205898e-01,-3.31944699e+00, 4.74978283e-02, 3.52062995e+00,
  7.98497050e+01,-1.81087055e+02]

qfrc_actuator:
[ 2.36994101e-03, 2.74232378e-02, 8.63634193e-03, 1.60469528e-03,
 -2.60377146e-05, 2.72239454e-02, 8.62403143e-03, 1.57852408e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017903897520972906
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10050653e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.10050653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0067746 , -0.02196294,  0.0618287 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.03607578e-05, 5.71498873e-06, 8.84745779e-06,-1.61050971e-05,
  9.23559159e-06,-1.13566109e-04,-2.81199203e-06,-2.69852616e-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,
  9.13235646e-06,-7.61221831e-07,-4.90501131e+00, 4.98043584e-05,
  3.08014805e-02, 7.18568750e-03]


--- Step 2355 ---
qpos:
[-2.51185196e-03, 8.65807433e-01,-2.37636197e-02, 3.75249828e-04,
 -2.97331847e-03, 8.61843964e-01,-2.70585982e-02, 3.12555099e-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,
  7.21429388e-03,-4.27536805e-02, 7.93428355e-02, 7.00883146e-01,
 -8.66738369e-02,-7.02558327e-01,-8.75343264e-02]

qacc:
[ 2.50922327e-01,-1.77158572e+00, 4.53992205e+00,-1.90172630e+00,
 -1.69413716e-02, 1.67585759e+00,-4.15889424e+00,-1.31078956e+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,
  6.83375006e-01,-3.12138811e+00,-5.86665129e-01, 3.38871180e+00,
  7.48957213e+01,-1.69455794e+02]

qfrc_actuator:
[ 2.39155905e-03, 2.73666640e-02, 8.65172176e-03, 1.61179660e-03,
 -3.33649937e-05, 2.72709910e-02, 8.59470511e-03, 1.56098694e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017702556983591744
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27154047e-14, -3.13577023e-14,  1.00000000e+00,  1.96661099e-27,
        1.00000000e+00,  3.13577023e-14, -1.00000000e+00,  0.00000000e+00,
        6.27154047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00676687, -0.02194411,  0.06183045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56290504e-05,-5.22612337e-05, 1.70882132e-05, 7.33821008e-06,
 -2.95717103e-06,-1.71266381e-05,-5.32098337e-05,-2.25486298e-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,
  3.15378091e-05,-1.11355086e-04,-4.90511267e+00, 5.84312885e-06,
  3.08119222e-02, 7.18951641e-03]


--- Step 2356 ---
qpos:
[-2.51166611e-03, 8.65807869e-01,-2.37636522e-02, 3.74832312e-04,
 -2.97401571e-03, 8.61843074e-01,-2.70600651e-02, 3.12452179e-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,
  7.20652393e-03,-4.27768343e-02, 7.93263684e-02, 7.00764162e-01,
 -8.61789458e-02,-7.02688096e-01,-8.79330275e-02]

qacc:
[ 2.87521665e-01,-1.18799344e+00, 2.77262016e+00,-9.46631840e-01,
 -3.08283896e-02, 2.24613886e+00,-1.00185609e+01, 1.89791025e+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,
 -3.55813129e+00, 1.58498523e+00,-3.36371288e+00, 1.07158286e+00,
 -2.11823852e+02, 5.73053313e+01]

qfrc_actuator:
[ 2.42214070e-03, 2.73326564e-02, 8.66075793e-03, 1.61616091e-03,
 -3.74870514e-05, 2.72817688e-02, 8.57802235e-03, 1.58680624e-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: -0.0017912811217023483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54948184e-14, -1.54948184e-14,  1.00000000e+00,  2.40089396e-28,
        1.00000000e+00,  1.54948184e-14, -1.00000000e+00,  0.00000000e+00,
        1.54948184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04939009, -0.05882366,  0.06182856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.23297291e-05,-5.94010541e-05, 5.96967382e-07, 2.85900057e-06,
 -5.52690344e-06,-1.07228643e-05,-2.75389042e-05, 2.28102601e-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,
  8.22782766e-05,-3.82128559e-04,-4.90526038e+00,-8.18214745e-05,
  3.08244949e-02, 7.19499754e-03]


--- Step 2357 ---
qpos:
[-2.51140283e-03, 8.65807781e-01,-2.37638225e-02, 3.74497578e-04,
 -2.97457665e-03, 8.61841965e-01,-2.70613861e-02, 3.12379586e-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,
  7.18570846e-03,-4.27941166e-02, 7.92944113e-02, 7.00379922e-01,
 -8.57893466e-02,-7.03082450e-01,-8.82225651e-02]

qacc:
[ 4.07007676e-02,-1.37754532e-01,-8.64153797e-01, 2.90283440e+00,
  7.19735753e-02,-7.19715429e-02,-1.44293327e+00, 6.61911300e+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,
 -3.26137874e+00, 1.46788801e+00,-3.87248675e+00, 1.66456839e+00,
 -1.95234741e+02, 5.21794229e+01]

qfrc_actuator:
[ 2.40458146e-03, 2.72946421e-02, 8.64828767e-03, 1.61888256e-03,
 -2.18939319e-05, 2.72708391e-02, 8.58662472e-03, 1.60242415e-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([ 8.63636364,  8.32901982, -2.28346354,  8.32901982, 12.56507559,
       14.33012579, -2.28346354, 14.33012579, 60.90604069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018060092115884108
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53684574e-14,  7.68422870e-15,  1.00000000e+00, -1.18094741e-28,
        1.00000000e+00, -7.68422870e-15, -1.00000000e+00,  0.00000000e+00,
        1.53684574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04936605, -0.0588076 ,  0.06182717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.38417225e-06,-7.09880297e-05,-2.45692936e-05, 2.52626843e-07,
  1.29682265e-05,-2.16021742e-05, 3.80458615e-06, 1.46546547e-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,
  2.17029027e-04, 4.69520414e-04,-4.90518601e+00,-5.40959098e-05,
  3.08202230e-02, 7.18837392e-03]


--- Step 2358 ---
qpos:
[-2.51140035e-03, 8.65807821e-01,-2.37649948e-02, 3.74174156e-04,
 -2.97497315e-03, 8.61840835e-01,-2.70626930e-02, 3.12359163e-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,
  7.17531189e-03,-4.28060709e-02, 7.92825401e-02, 7.00196017e-01,
 -8.55270793e-02,-7.03275283e-01,-8.83998462e-02]

qacc:
[-1.37421721e-01, 2.99128046e+00,-1.04679794e+01, 1.21747038e+01,
  8.66517988e-02, 1.00468683e+00,-5.82678134e+00, 1.48501634e+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,
  2.60472587e+00, 1.33197210e+00, 5.02147549e+00,-5.42354587e+00,
  1.30564155e+02, 1.01554713e+02]

qfrc_actuator:
[ 2.37614151e-03, 2.73254415e-02, 8.60545105e-03, 1.62059978e-03,
 -1.23954674e-05, 2.72826087e-02, 8.59222709e-03, 1.62965594e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018482760041707291
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00340161e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00340161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075773, -0.04696418,  0.06182327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49270728e-05,-1.39549503e-05,-6.05138736e-05,-2.16837582e-06,
  1.56514433e-05, 1.14345648e-06, 2.13717267e-06, 2.67279660e-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,
  1.18783280e-03, 7.83301774e-04,-4.90515632e+00,-3.88765167e-05,
  3.08176823e-02, 7.18281333e-03]


--- Step 2359 ---
qpos:
[-2.51151336e-03, 8.65807672e-01,-2.37660884e-02, 3.74184508e-04,
 -2.97523110e-03, 8.61839739e-01,-2.70639708e-02, 3.12405205e-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,
  7.17454044e-03,-4.28131960e-02, 7.92861890e-02, 7.00196798e-01,
 -8.53824803e-02,-7.03282870e-01,-8.84730512e-02]

qacc:
[-6.04155072e-02, 2.16508516e-01,-2.54484093e+00, 8.33495978e+00,
  7.30110385e-02, 1.33225815e+00,-7.49010039e+00, 1.89227636e+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,
  2.40627731e+00, 1.20734350e+00, 3.88000617e+00,-4.88842770e+00,
  1.20145380e+02, 9.38983377e+01]

qfrc_actuator:
[ 2.37698567e-03, 2.73260751e-02, 8.61632448e-03, 1.63950532e-03,
 -6.63645573e-06, 2.72901357e-02, 8.59610269e-03, 1.66351632e-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: -0.0018683091850957567
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97119726e-14, -2.97119726e-14,  1.00000000e+00,  8.82801313e-28,
        1.00000000e+00,  2.97119726e-14, -1.00000000e+00,  0.00000000e+00,
        2.97119726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074274, -0.04696344,  0.06182146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10415596e-05,-1.97549772e-05, 4.70517005e-07, 1.61737129e-05,
  1.31883355e-05, 9.79244226e-06, 5.31961700e-06, 3.45074029e-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,
  3.04430885e-04, 2.62429234e-04,-4.90507340e+00,-9.65920310e-05,
  3.08098921e-02, 7.18873459e-03]


--- Step 2360 ---
qpos:
[-2.51167481e-03, 8.65806913e-01,-2.37668933e-02, 3.75151057e-04,
 -2.97538683e-03, 8.61838884e-01,-2.70652604e-02, 3.12454536e-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,
  7.18273907e-03,-4.28158977e-02, 7.93014975e-02, 7.00369146e-01,
 -8.53474771e-02,-7.03118518e-01,-8.84489556e-02]

qacc:
[-2.49525855e-02, 3.57550422e-01,-6.47778236e+00, 2.30112879e+01,
  5.37444803e-02, 4.18288662e-01,-1.16887707e+00, 1.58040813e+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,
  2.24252063e+00, 1.10580754e+00, 2.91490619e+00,-4.43597442e+00,
  1.11524217e+02, 8.75331063e+01]

qfrc_actuator:
[ 2.37760665e-03, 2.72733712e-02, 8.62323881e-03, 1.68614951e-03,
 -3.16099693e-06, 2.73128220e-02, 8.59892183e-03, 1.66549696e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001866489169044687
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97409447e-14,  2.97409447e-14,  1.00000000e+00,  8.84523794e-28,
        1.00000000e+00, -2.97409447e-14, -1.00000000e+00,  0.00000000e+00,
       -2.97409447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074377, -0.04696648,  0.06182165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64538938e-06,-6.29495216e-05, 3.46200825e-06, 4.61311028e-05,
  9.73646632e-06, 3.07761759e-05, 6.70927573e-06, 3.25867516e-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,
  1.09257169e-05, 1.01205634e-05,-4.90502778e+00,-1.23236665e-04,
  3.08039383e-02, 7.19269353e-03]


--- Step 2361 ---
qpos:
[-2.51166872e-03, 8.65805763e-01,-2.37681810e-02, 3.76350113e-04,
 -2.97584512e-03, 8.61838164e-01,-2.70664091e-02, 3.12402569e-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,
  7.19936931e-03,-4.28145062e-02, 7.93252050e-02, 7.00702049e-01,
 -8.54153230e-02,-7.02793080e-01,-8.83331608e-02]

qacc:
[ 8.76890500e-02, 1.30918308e+00,-6.40116784e+00, 1.14865429e+01,
 -1.59363468e-01,-2.29885953e+00, 1.27329757e+01,-3.05918811e+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,
  2.10790371e+00, 1.02331400e+00, 2.09975857e+00,-4.05083478e+00,
  1.04392057e+02, 8.22436776e+01]

qfrc_actuator:
[ 2.39582552e-03, 2.72424175e-02, 8.59203081e-03, 1.69542305e-03,
 -3.65800257e-05, 2.73088787e-02, 8.60113618e-03, 1.61321038e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001847126317845102
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01054196e-14, -3.00527098e-14,  1.00000000e+00,  1.80633074e-27,
        1.00000000e+00,  3.00527098e-14, -1.00000000e+00,  0.00000000e+00,
        6.01054196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075756, -0.04697255,  0.06182344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59974566e-05,-6.34401566e-05,-4.21749524e-05, 7.59576185e-06,
 -2.87935631e-05, 1.48223642e-05, 9.52598699e-06,-5.06701567e-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,
  1.84935266e-04,-2.69674622e-05,-4.90501089e+00,-1.24008059e-04,
  3.07993593e-02, 7.19506201e-03]


--- Step 2362 ---
qpos:
[-2.51146945e-03, 8.65804168e-01,-2.37689717e-02, 3.77244683e-04,
 -2.97646727e-03, 8.61837333e-01,-2.70674265e-02, 3.12326179e-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,
  7.20325275e-03,-4.28071624e-02, 7.93333743e-02, 7.00768879e-01,
 -8.55840958e-02,-7.02734158e-01,-8.81081347e-02]

qacc:
[ 1.01741520e-01,-2.60126805e+00, 9.70885136e+00,-1.54485233e+01,
 -8.61932414e-02,-1.01449480e+00, 4.43737561e+00,-8.79444613e+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,
 -3.18670043e+00, 1.48809959e+00,-3.88455498e+00, 3.43132136e+00,
 -1.95993220e+02, 5.06010051e+01]

qfrc_actuator:
[ 2.40665389e-03, 2.72422929e-02, 8.62736863e-03, 1.68261541e-03,
 -3.85139581e-05, 2.72889672e-02, 8.60283974e-03, 1.60040673e-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: -0.001815311782948116
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05794034e-14, -1.52897017e-14,  1.00000000e+00,  4.67549955e-28,
        1.00000000e+00,  1.52897017e-14, -1.00000000e+00,  0.00000000e+00,
        3.05794034e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935922, -0.05878835,  0.06182637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84519818e-05,-4.39466863e-05, 1.73193861e-05,-1.68354136e-05,
 -1.55994672e-05,-1.18027612e-05, 4.20065427e-06,-1.28212204e-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,
  7.37961177e-04, 1.12096791e-04,-4.90501795e+00,-1.02742486e-04,
  3.07957863e-02, 7.19611237e-03]


--- Step 2363 ---
qpos:
[-2.51092652e-03, 8.65802884e-01,-2.37699606e-02, 3.77928604e-04,
 -2.97680274e-03, 8.61836336e-01,-2.70678578e-02, 3.12301668e-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,
  7.19530349e-03,-4.27942690e-02, 7.93242961e-02, 7.00588758e-01,
 -8.58462097e-02,-7.02922608e-01,-8.77817025e-02]

qacc:
[ 1.79940329e-01, 5.29726323e-01,-4.04933786e-01,-3.15101830e+00,
  1.51449104e-01,-7.89105114e-01, 3.04709537e-01, 7.85781231e+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,
 -2.95817680e+00, 1.38737522e+00,-4.31188347e+00, 3.25574134e+00,
 -1.81897998e+02, 4.68631755e+01]

qfrc_actuator:
[ 2.43070792e-03, 2.72963807e-02, 8.63083686e-03, 1.67475570e-03,
 -3.82187225e-06, 2.72951715e-02, 8.63969533e-03, 1.62868189e-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: -0.001809008018871766
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06859619e-14, -3.06859619e-14,  1.00000000e+00,  9.41628261e-28,
        1.00000000e+00,  3.06859619e-14, -1.00000000e+00,  0.00000000e+00,
        3.06859619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04937194, -0.05879219,  0.06182697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28505919e-05, 3.24139854e-05,-4.04007163e-06,-9.46858554e-06,
  2.72858719e-05,-5.00721431e-08, 3.45078473e-05, 2.76696085e-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,
  5.04214634e-05, 1.01384693e-04,-4.90497549e+00,-9.92660865e-05,
  3.07935572e-02, 7.19177938e-03]


--- Step 2364 ---
qpos:
[-2.51007314e-03, 8.65802049e-01,-2.37713394e-02, 3.79198193e-04,
 -2.97697042e-03, 8.61835493e-01,-2.70679386e-02, 3.12274119e-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,
  7.19675490e-03,-4.27766935e-02, 7.93282818e-02, 7.00584460e-01,
 -8.62208562e-02,-7.02934106e-01,-8.73557204e-02]

qacc:
[ 1.62402060e-01, 2.88706392e+00,-1.19060244e+01, 2.23376450e+01,
  8.85308074e-02,-8.36798381e-01, 3.40834882e+00,-4.60899836e+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,
  2.35017044e+00, 1.17052770e+00, 3.26597924e+00,-4.65140471e+00,
  1.14568777e+02, 8.97351121e+01]

qfrc_actuator:
[ 2.44471697e-03, 2.73291608e-02, 8.61567963e-03, 1.70539795e-03,
 -7.97079793e-07, 2.73171456e-02, 8.66162947e-03, 1.62768114e-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: -0.0018098495710502024
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13433869e-14, -3.06716934e-14,  1.00000000e+00,  1.88150556e-27,
        1.00000000e+00,  3.06716934e-14, -1.00000000e+00,  0.00000000e+00,
        6.13433869e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078459, -0.04698777,  0.06182685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96800613e-05, 4.97054522e-05,-9.27217145e-06, 3.17084817e-05,
  1.59762112e-05, 3.02892501e-05, 2.71445799e-05, 7.32232427e-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,
  1.48132181e-04,-3.09796278e-04,-4.90496391e+00,-9.99566568e-05,
  3.07920024e-02, 7.18733576e-03]


--- Step 2365 ---
qpos:
[-2.50898912e-03, 8.65800914e-01,-2.37717384e-02, 3.80826232e-04,
 -2.97722636e-03, 8.61835243e-01,-2.70682432e-02, 3.12278410e-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,
  7.20699089e-03,-4.27547938e-02, 7.93418601e-02, 7.00744211e-01,
 -8.67012226e-02,-7.02780214e-01,-8.68355947e-02]

qacc:
[ 1.21665726e-01,-2.39444396e+00, 6.45040697e+00,-1.59589752e+00,
 -4.68159112e-02, 2.06347090e+00,-7.56418886e+00, 1.29984075e+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,
  2.19614277e+00, 1.08103777e+00, 2.39814294e+00,-4.09604482e+00,
  1.06916330e+02, 8.44301868e+01]

qfrc_actuator:
[ 2.45259477e-03, 2.72956353e-02, 8.66062862e-03, 1.72292407e-03,
 -1.67684325e-05, 2.73660800e-02, 8.65685943e-03, 1.64496174e-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: -0.0017995994023675271
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08463935e-14,  3.08463935e-14,  1.00000000e+00, -9.51499989e-28,
        1.00000000e+00, -3.08463935e-14, -1.00000000e+00,  0.00000000e+00,
        3.08463935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079218, -0.04699254,  0.06182777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20378521e-05,-6.25721362e-06, 5.51842936e-05, 1.99525430e-05,
 -8.38426770e-06, 7.15320977e-05, 4.86284575e-06, 1.95335050e-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,
  1.09986896e-05, 8.90000154e-05,-4.90497200e+00,-4.76888796e-05,
  3.07910913e-02, 7.18831962e-03]


--- Step 2366 ---
qpos:
[-2.50756584e-03, 8.65799340e-01,-2.37711179e-02, 3.81976454e-04,
 -2.97743672e-03, 8.61835391e-01,-2.70680042e-02, 3.12335060e-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,
  7.22490679e-03,-4.27296728e-02, 7.93638961e-02, 7.01048521e-01,
 -8.72622086e-02,-7.02480178e-01,-8.62431315e-02]

qacc:
[ 1.78654480e-01,-4.41014647e+00, 1.69016042e+01,-2.64827333e+01,
  2.42437383e-02, 8.33310339e-02,-1.74700776e+00, 9.64758733e+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,
  1.91997940e+00, 8.05358847e-01, 2.11444336e+00,-2.90670023e+00,
  9.53653117e+01, 6.62858657e+01]

qfrc_actuator:
[ 2.47450210e-03, 2.72584017e-02, 8.70492240e-03, 1.69706819e-03,
 -8.44328216e-06, 2.73951841e-02, 8.68975872e-03, 1.67287452e-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([  8.63636364,   7.61313485,   4.07761629,   7.61313485,
        15.56816618, -12.94205824,   4.07761629, -12.94205824,
        32.79990126,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017747418548144933
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.25568739e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.25568739e-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([ 0.00076169, -0.04580459,  0.06183003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24158631e-05,-2.84525314e-05, 5.04993835e-05,-2.38261942e-05,
  4.35372149e-06, 7.09514408e-05, 4.89521766e-05, 3.15265113e-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,
  2.92694494e-04, 6.44038568e-04,-4.90500427e+00, 2.64992926e-05,
  3.07908635e-02, 7.18788934e-03]


--- Step 2367 ---
qpos:
[-2.50678022e-03, 8.65797992e-01,-2.37709846e-02, 3.82136895e-04,
 -2.97775891e-03, 8.61836182e-01,-2.70677263e-02, 3.12424989e-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,
  7.22791327e-03,-4.27085265e-02, 7.93684443e-02, 7.01065880e-01,
 -8.76897232e-02,-7.02463013e-01,-8.58071099e-02]

qacc:
[-3.34778023e-01,-3.77051206e-01, 5.95653056e+00,-2.24731886e+01,
 -5.90889209e-02, 1.42606097e+00,-5.25577199e+00, 1.04811128e+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,
 -3.72735750e+00,-9.93714290e-01,-4.37195537e+00,-8.48581581e+00,
 -1.87360746e+02,-1.26432923e+02]

qfrc_actuator:
[ 2.39811047e-03, 2.72724599e-02, 8.67738080e-03, 1.64587600e-03,
 -2.11440363e-05, 2.74301025e-02, 8.69132396e-03, 1.68908144e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00178262972536989
  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([ 0.05531201, -0.03492519,  0.06182946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09364719e-05, 7.58896901e-06,-2.80166075e-05,-5.11279661e-05,
 -1.06264502e-05, 8.60474266e-05, 2.33371656e-05, 2.15528167e-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,
  8.63745326e-04, 1.24943535e-03,-4.90504942e+00, 1.14237946e-04,
  3.07906408e-02, 7.18645219e-03]


--- Step 2368 ---
qpos:
[-2.50696322e-03, 8.65796774e-01,-2.37717615e-02, 3.82070567e-04,
 -2.97821219e-03, 8.61837641e-01,-2.70676496e-02, 3.12431423e-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,
  7.21715380e-03,-4.26910392e-02, 7.93538173e-02, 7.00819292e-01,
 -8.79945147e-02,-7.02706518e-01,-8.55151155e-02]

qacc:
[-5.08494761e-01, 2.24673474e+00,-6.80550314e+00, 4.24325185e+00,
 -6.94511385e-02,-2.73629776e-01, 5.78195335e+00,-2.04023863e+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,
 -3.44148419e+00,-9.14711639e-01,-4.79381086e+00,-7.95737999e+00,
 -1.72500311e+02,-1.16343849e+02]

qfrc_actuator:
[ 2.33459121e-03, 2.72635453e-02, 8.62558962e-03, 1.63344301e-03,
 -2.85685041e-05, 2.74503509e-02, 8.67437599e-03, 1.64498831e-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: -0.0017986745001922627
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17245102e-14,  3.08622551e-14,  1.00000000e+00, -1.90495758e-27,
        1.00000000e+00, -3.08622551e-14, -1.00000000e+00,  0.00000000e+00,
        6.17245102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05528016, -0.03493062,  0.06182809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.25697216e-05,-1.26258684e-05,-5.54355535e-05,-1.40704174e-05,
 -1.24586952e-05, 7.40832465e-05, 4.43468515e-06,-3.91826055e-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,
  2.81431183e-05, 1.73041923e-04,-4.90503474e+00, 8.52182589e-05,
  3.07981299e-02, 7.18356124e-03]


--- Step 2369 ---
qpos:
[-2.50725698e-03, 8.65795771e-01,-2.37733318e-02, 3.83218125e-04,
 -2.97858516e-03, 8.61839460e-01,-2.70679437e-02, 3.12424755e-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,
  7.20960621e-03,-4.26891360e-02, 7.93450818e-02, 7.00667175e-01,
 -8.79904669e-02,-7.02858460e-01,-8.55170903e-02]

qacc:
[-5.85808722e-02, 4.99665658e+00,-2.25299553e+01, 4.46528300e+01,
  4.19322373e-02, 1.24081815e+00,-3.18176083e+00, 1.24407974e+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,
  8.02966129e-01,-3.89604072e+00, 1.47288231e+00, 5.17466060e+00,
  9.14169472e+01,-2.03453364e+02]

qfrc_actuator:
[ 2.36814455e-03, 2.72941110e-02, 8.59537184e-03, 1.69715633e-03,
 -1.50105870e-05, 2.74437625e-02, 8.64654455e-03, 1.63676029e-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: -0.0018316861580330718
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03060385e-14,  6.06120770e-14,  1.00000000e+00, -1.83691194e-27,
        1.00000000e+00, -6.06120770e-14, -1.00000000e+00,  0.00000000e+00,
        3.03060385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00676344, -0.02202627,  0.06182512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05824319e-05, 1.14777196e-05,-4.01250893e-05, 6.09844501e-05,
  7.65362833e-06, 3.40373795e-05,-1.33532630e-05,-5.66591363e-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,
  2.83287002e-04,-4.45734911e-04,-4.90504903e+00, 8.74028072e-05,
  3.08022006e-02, 7.18445892e-03]


--- Step 2370 ---
qpos:
[-2.50757672e-03, 8.65795083e-01,-2.37756010e-02, 3.84409296e-04,
 -2.97901996e-03, 8.61841685e-01,-2.70692098e-02, 3.12515546e-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,
  7.20502419e-03,-4.27016145e-02, 7.93388285e-02, 7.00602320e-01,
 -8.77008614e-02,-7.02925938e-01,-8.57908757e-02]

qacc:
[-1.41748705e-02, 2.45731373e+00,-8.34347357e+00, 9.98729359e+00,
 -3.32723375e-02, 5.25228460e+00,-2.20688128e+01, 4.01994614e+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,
  7.41395855e-01,-3.59542713e+00, 6.20562735e-01, 4.74578145e+00,
  8.44251426e+01,-1.88130557e+02]

qfrc_actuator:
[ 2.37070788e-03, 2.73127227e-02, 8.56059259e-03, 1.69869171e-03,
 -2.45274772e-05, 2.74566183e-02, 8.59468055e-03, 1.68518667e-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: -0.0018419006870119686
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01379719e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.01379719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00676687, -0.02203584,  0.06182418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47844917e-06, 1.93889046e-05,-3.52227491e-05, 1.82776427e-06,
 -5.87935845e-06, 2.88479597e-05,-4.66878795e-05, 4.93096525e-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,
  1.47744185e-04,-1.53479804e-05,-4.90500533e+00, 1.21599821e-04,
  3.08001730e-02, 7.18273914e-03]


--- Step 2371 ---
qpos:
[-2.50789105e-03, 8.65793866e-01,-2.37773385e-02, 3.84942694e-04,
 -2.97972842e-03, 8.61844379e-01,-2.70714238e-02, 3.12628134e-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,
  7.20320037e-03,-4.27274716e-02, 7.93321496e-02, 7.00618373e-01,
 -8.71451128e-02,-7.02914523e-01,-8.63180020e-02]

qacc:
[ 3.32684890e-03,-3.53696634e+00, 1.43750019e+01,-2.62232720e+01,
 -1.44882951e-01, 3.71485124e+00,-1.32669020e+01, 1.82141456e+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,
  6.89548309e-01,-3.34467073e+00,-1.06416944e-01, 4.35409002e+00,
  7.85980251e+01,-1.75355019e+02]

qfrc_actuator:
[ 2.37238937e-03, 2.72529656e-02, 8.57655741e-03, 1.66360504e-03,
 -4.77792201e-05, 2.74809516e-02, 8.54689915e-03, 1.69554194e-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: -0.0018310684770081742
  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([ 0.00676333, -0.02202457,  0.06182508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.05373653e-07,-5.60788255e-05, 1.57146352e-05,-3.54368496e-05,
 -2.60391653e-05, 3.28892063e-05,-4.58782080e-05, 1.09321649e-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,
  6.28066305e-05, 1.67162550e-04,-4.90503463e+00, 1.00402498e-04,
  3.08027415e-02, 7.18354614e-03]


--- Step 2372 ---
qpos:
[-2.50819102e-03, 8.65792484e-01,-2.37787294e-02, 3.85363127e-04,
 -2.98070873e-03, 8.61847617e-01,-2.70736483e-02, 3.12572102e-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,
  7.20395955e-03,-4.27658685e-02, 7.93225629e-02, 7.00709710e-01,
 -8.63394101e-02,-7.02828532e-01,-8.70830815e-02]

qacc:
[ 7.79934768e-03,-1.41812507e+00, 5.21738079e+00,-7.60662139e+00,
 -1.43467702e-01,-2.72262920e+00, 1.78681770e+01,-4.74365999e+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,
  6.45750824e-01,-3.13491300e+00,-7.26943543e-01, 3.99244579e+00,
  7.37399560e+01,-1.64706755e+02]

qfrc_actuator:
[ 2.37352074e-03, 2.72711735e-02, 8.60426488e-03, 1.66048697e-03,
 -6.12826828e-05, 2.75296970e-02, 8.55518994e-03, 1.61241081e-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: -0.0018033291490122394
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07825952e-14, -6.15651904e-14,  1.00000000e+00,  1.89513634e-27,
        1.00000000e+00,  6.15651904e-14, -1.00000000e+00,  0.00000000e+00,
        3.07825952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00675427, -0.02199671,  0.06182746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36945039e-06,-1.13804064e-05, 1.68575981e-05,-5.66252876e-06,
 -2.58594321e-05, 5.80776256e-05, 9.80376457e-06,-8.30994176e-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,
  1.83307826e-05, 1.51812448e-04,-4.90512173e+00, 3.15469035e-05,
  3.08088261e-02, 7.18647589e-03]


--- Step 2373 ---
qpos:
[-2.50829024e-03, 8.65791506e-01,-2.37797730e-02, 3.85668064e-04,
 -2.98152433e-03, 8.61851240e-01,-2.70755109e-02, 3.12485317e-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,
  7.21407253e-03,-4.28000277e-02, 7.93278829e-02, 7.00982314e-01,
 -8.56514794e-02,-7.02559035e-01,-8.77406481e-02]

qacc:
[ 1.05324703e-01,-6.73457561e-01, 3.66467164e+00,-6.51705287e+00,
  8.68260286e-02,-1.13312557e+00, 6.07903054e+00,-1.22653365e+01,
 -1.27259688e-01,-3.86453576e+00, 1.54399042e+01,-2.22904712e+01,
 -8.62471212e-02, 3.72179652e-01,-7.20079377e+00, 2.44839328e+01,
  2.33845007e+00, 1.05939350e+00, 3.72667286e+00,-3.64530688e+00,
  1.18222206e+02, 9.48689314e+01]

qfrc_actuator:
[ 2.39206357e-03, 2.73360080e-02, 8.63899045e-03, 1.65851574e-03,
 -3.33242617e-05, 2.75573236e-02, 8.57881311e-03, 1.59927324e-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: -0.0017992340958570073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77750915e-07, -9.77750950e-07,  1.00000000e+00, -9.55996886e-13,
        1.00000000e+00,  9.77750950e-07, -1.00000000e+00, -2.01948392e-28,
       -9.77750915e-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([-0.00063494, -0.04687389,  0.06182773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91980363e-05, 6.17537947e-05, 3.42773689e-05,-1.98193279e-06,
  1.56915589e-05, 5.85049334e-05, 3.39425436e-05,-1.19281805e-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,
  6.77613581e-06,-2.45020747e-05,-4.90525607e+00,-7.91487618e-05,
  3.08175431e-02, 7.19120296e-03]


--- Step 2374 ---
qpos:
[-2.50799233e-03, 8.65790547e-01,-2.37794049e-02, 3.85921428e-04,
 -2.98189630e-03, 8.61854305e-01,-2.70769667e-02, 3.12498931e-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,
  7.20983321e-03,-4.28275347e-02, 7.93205719e-02, 7.00956528e-01,
 -8.50777570e-02,-7.02587426e-01,-8.82758748e-02]

qacc:
[ 2.09105910e-01,-4.02326180e+00, 1.46006917e+01,-1.77687438e+01,
  2.34148669e-01, 1.93048352e-01,-5.99619017e+00, 2.31319245e+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,
 -3.58807620e+00, 1.66305819e+00,-3.15774317e+00, 3.23617158e+00,
 -2.19474974e+02, 5.71503830e+01]

qfrc_actuator:
[ 2.42086114e-03, 2.73395519e-02, 8.71329269e-03, 1.65728032e-03,
  1.43082858e-06, 2.74657030e-02, 8.57576236e-03, 1.64518026e-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: -0.0018332456978373754
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02802572e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.02802572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04933584, -0.05875747,  0.06182478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79611808e-05, 4.51033877e-05, 9.12259928e-05, 2.56002800e-06,
  4.22106784e-05,-5.24757316e-05, 1.27883899e-05, 4.93542805e-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,
  2.42579139e-04,-8.94197102e-04,-4.90519819e+00,-1.78371728e-04,
  3.08103001e-02, 7.19511256e-03]


--- Step 2375 ---
qpos:
[-2.50732796e-03, 8.65789720e-01,-2.37786556e-02, 3.86214987e-04,
 -2.98183971e-03, 8.61856335e-01,-2.70777720e-02, 3.12468506e-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,
  7.19242908e-03,-4.28489154e-02, 7.92984806e-02, 7.00656904e-01,
 -8.46078941e-02,-7.02889687e-01,-8.86989031e-02]

qacc:
[ 1.92338314e-01,-8.06626405e-01, 2.96120307e+00,-2.97359858e+00,
  2.26461463e-01,-4.08872606e+00, 1.44547173e+01,-2.23600262e+01,
  1.45987880e-01, 4.02443369e+00,-1.92824126e+01, 4.08386532e+01,
 -6.32487776e-02,-2.56330360e-01, 2.14739196e+00,-7.25870964e+00,
 -3.29120199e+00, 1.53159259e+00,-3.69510168e+00, 3.45338024e+00,
 -2.01539435e+02, 5.20716369e+01]

qfrc_actuator:
[ 2.43778224e-03, 2.73242982e-02, 8.72137453e-03, 1.65646867e-03,
  2.21665004e-05, 2.73743341e-02, 8.59202275e-03, 1.61880972e-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([ 8.63636364,  8.59388897,  0.85548182,  8.59388897,  9.45845125,
       -8.25842176,  0.85548182, -8.25842176, 91.59775209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018553468113624016
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99195551e-14,  7.47988879e-15,  1.00000000e+00, -2.23794945e-28,
        1.00000000e+00, -7.47988879e-15, -1.00000000e+00,  0.00000000e+00,
        2.99195551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0492986 , -0.05873841,  0.0618228 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50272158e-05, 2.89414498e-05, 2.87284804e-05, 4.32754687e-06,
  4.07652589e-05,-1.16013715e-04, 8.69319914e-06,-2.72184543e-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,
  5.76660342e-05, 3.02571921e-04,-4.90514254e+00,-1.41862350e-04,
  3.08093883e-02, 7.19300459e-03]


--- Step 2376 ---
qpos:
[-2.50638780e-03, 8.65789627e-01,-2.37788837e-02, 3.86859875e-04,
 -2.98126549e-03, 8.61857806e-01,-2.70787519e-02, 3.12337371e-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,
  7.17124444e-03,-4.28548649e-02, 7.92784758e-02, 7.00260868e-01,
 -8.44382440e-02,-7.03291506e-01,-8.88029138e-02]

qacc:
[ 1.43750191e-01, 4.42074148e+00,-1.58417630e+01, 2.29507392e+01,
  2.72637886e-01,-2.32272259e+00, 1.14622629e+01,-2.82041135e+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,
 -9.45128770e-01, 3.85779841e+00, 5.21665816e-01, 7.28079797e+00,
 -9.55719427e+01, 2.08781620e+02]

qfrc_actuator:
[ 2.44744927e-03, 2.73686548e-02, 8.67243725e-03, 1.67359276e-03,
  5.20807590e-05, 2.73548273e-02, 8.58395818e-03, 1.56786807e-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: -0.0018666414143452062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46077786e-14, -5.94770381e-14,  1.00000000e+00,  2.65313854e-27,
        1.00000000e+00,  5.94770381e-14, -1.00000000e+00,  0.00000000e+00,
        4.46077786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0213469 , -0.06495992,  0.06182169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63724567e-05, 6.66750680e-05,-3.92715240e-05, 1.94414731e-05,
  4.92511491e-05,-8.37861984e-05,-3.19051243e-05,-5.61423873e-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,
  7.96022136e-04, 9.06320984e-04,-4.90512796e+00,-1.20165956e-04,
  3.08094806e-02, 7.19095674e-03]


--- Step 2377 ---
qpos:
[-2.50544674e-03, 8.65789581e-01,-2.37785939e-02, 3.87344270e-04,
 -2.98044922e-03, 8.61858706e-01,-2.70792626e-02, 3.12072794e-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,
  7.15672969e-03,-4.28501669e-02, 7.92734092e-02, 6.99972193e-01,
 -8.44970942e-02,-7.03586360e-01,-8.86871120e-02]

qacc:
[ 7.67460001e-04,-1.71495495e+00, 6.88263917e+00,-1.05246868e+01,
  1.27905559e-01,-4.80732085e+00, 2.16831886e+01,-4.51142969e+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,
  1.66747618e+00, 2.66186625e+00, 3.73452171e+00,-2.92553298e+00,
  5.57786210e+01, 1.66597150e+02]

qfrc_actuator:
[ 2.43495532e-03, 2.73593608e-02, 8.69701057e-03, 1.66564584e-03,
  5.17364251e-05, 2.73428703e-02, 8.61512136e-03, 1.50292661e-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: -0.001883202193069759
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.18445808e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.18445808e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00470022, -0.05403692,  0.06182014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.91779601e-08, 2.07157616e-05, 3.41789312e-05,-6.07252657e-06,
  2.30257594e-05,-6.78218691e-05, 7.98240997e-06,-7.07272941e-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,
  1.10204098e-03, 2.27333834e-04,-4.90505862e+00,-1.50802910e-04,
  3.08050561e-02, 7.18879459e-03]


--- Step 2378 ---
qpos:
[-2.50458783e-03, 8.65790243e-01,-2.37782029e-02, 3.86291500e-04,
 -2.98008474e-03, 8.61859057e-01,-2.70788873e-02, 3.11763721e-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,
  7.15174129e-03,-4.28409643e-02, 7.92824762e-02, 6.99862294e-01,
 -8.46706216e-02,-7.03702316e-01,-8.84686701e-02]

qacc:
[-4.33334786e-02,-2.50988986e+00, 1.67971873e+01,-4.40843387e+01,
 -2.37204261e-01,-4.11383914e+00, 1.54960668e+01,-2.42154556e+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,
  2.38158449e+00, 1.12613106e+00, 3.53341379e+00,-4.40727929e+00,
  1.16082874e+02, 9.17510501e+01]

qfrc_actuator:
[ 2.42708199e-03, 2.74247855e-02, 8.71132783e-03, 1.58976970e-03,
 -2.19981525e-06, 2.73356782e-02, 8.66924738e-03, 1.48357334e-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: -0.0018945469625253203
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.93004884e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.93004884e-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([-0.00072162, -0.04698018,  0.06181915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.82882164e-06, 8.38036444e-05, 2.25931694e-05,-7.39252327e-05,
 -4.30134462e-05,-4.65083895e-05, 3.86552404e-05,-2.33559683e-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,
  5.09423588e-04,-2.23584040e-04,-4.90499908e+00,-1.76384065e-04,
  3.07992549e-02, 7.19063185e-03]


--- Step 2379 ---
qpos:
[-2.50419232e-03, 8.65792373e-01,-2.37786041e-02, 3.84301145e-04,
 -2.98027344e-03, 8.61859133e-01,-2.70782983e-02, 3.11538503e-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,
  7.15562872e-03,-4.28275909e-02, 7.93020236e-02, 6.99918901e-01,
 -8.49513525e-02,-7.03651668e-01,-8.81540099e-02]

qacc:
[-2.44030586e-01, 2.22036388e+00,-1.14730957e+00,-1.48880050e+01,
 -2.91057429e-01, 7.66011662e-01,-6.79772689e+00, 2.11708933e+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,
  2.21895839e+00, 1.04273598e+00, 2.62008430e+00,-3.97986540e+00,
  1.08069168e+02, 8.58079529e+01]

qfrc_actuator:
[ 2.38655846e-03, 2.75343606e-02, 8.68419580e-03, 1.54558742e-03,
 -3.44362818e-05, 2.73315523e-02, 8.68328856e-03, 1.52672253e-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: -0.0018851243802794904
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47234718e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47234718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072917, -0.04698378,  0.06182006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42468752e-05, 1.57916063e-04,-9.60615162e-06,-4.12494307e-05,
 -5.26605652e-05,-2.31614728e-05, 8.38986342e-06, 4.20444207e-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,
  5.40814143e-05,-1.23385058e-04,-4.90498184e+00,-1.60992255e-04,
  3.07975303e-02, 7.19243445e-03]


--- Step 2380 ---
qpos:
[-2.50427085e-03, 8.65795464e-01,-2.37790304e-02, 3.83534422e-04,
 -2.98055080e-03, 8.61859645e-01,-2.70784450e-02, 3.11433202e-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,
  7.16785859e-03,-4.28103160e-02, 7.93289677e-02, 7.00131700e-01,
 -8.53330514e-02,-7.03444446e-01,-8.77484160e-02]

qacc:
[-2.48842011e-01, 3.85779864e+00,-1.70782829e+01, 3.75909291e+01,
 -4.72474614e-02, 5.09538159e+00,-2.23983008e+01, 4.40150335e+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,
  2.08560903e+00, 9.75354591e-01, 1.84917454e+00,-3.60881681e+00,
  1.01434369e+02, 8.08813299e+01]

qfrc_actuator:
[ 2.36236416e-03, 2.75806207e-02, 8.68630501e-03, 1.60919990e-03,
 -1.78655062e-05, 2.73824691e-02, 8.65584418e-03, 1.58851505e-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: -0.0018595006887168475
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98527188e-14,  8.95581565e-14,  1.00000000e+00,  2.67355447e-27,
        1.00000000e+00, -8.95581565e-14, -1.00000000e+00,  0.00000000e+00,
       -2.98527188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074826, -0.04699034,  0.06182245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.52753042e-05, 1.30762229e-04, 3.21024567e-05, 6.92427120e-05,
 -8.43047923e-06, 4.14897018e-05,-2.97399972e-05, 6.19123475e-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,
  4.98564008e-05, 1.58651180e-04,-4.90498879e+00,-1.21749979e-04,
  3.07967339e-02, 7.19285767e-03]


--- Step 2381 ---
qpos:
[-2.50416668e-03, 8.65799026e-01,-2.37786309e-02, 3.83539360e-04,
 -2.98076414e-03, 8.61860755e-01,-2.70790539e-02, 3.11398689e-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,
  7.18799552e-03,-4.27893563e-02, 7.93607086e-02, 7.00492016e-01,
 -8.58105238e-02,-7.03088788e-01,-8.72562111e-02]

qacc:
[ 9.61872665e-02,-9.54057939e-02,-2.01282242e+00, 1.36993879e+01,
  3.32552890e-02, 3.53702086e+00,-1.44533854e+01, 2.70073870e+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,
  1.97676637e+00, 9.21183263e-01, 1.19920970e+00,-3.28255579e+00,
  9.59503737e+01, 7.68107089e+01]

qfrc_actuator:
[ 2.40142132e-03, 2.75888112e-02, 8.72326140e-03, 1.64693990e-03,
 -7.75889758e-06, 2.74303057e-02, 8.63987770e-03, 1.62529226e-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: -0.001821084153626501
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.04824745e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.04824745e-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([-0.00077644, -0.04699928,  0.06182598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74782023e-05, 9.08324073e-05, 7.02954114e-05, 4.57982009e-05,
  6.10929110e-06, 6.75363108e-05,-8.92035894e-06, 3.87315038e-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,
  4.14769287e-04, 5.90759976e-04,-4.90501618e+00,-6.19900984e-05,
  3.07965630e-02, 7.19213154e-03]


--- Step 2382 ---
qpos:
[-2.50373162e-03, 8.65802283e-01,-2.37772167e-02, 3.82012569e-04,
 -2.98088274e-03, 8.61861800e-01,-2.70790058e-02, 3.11374760e-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,
  7.21568608e-03,-4.27648850e-02, 7.93950569e-02, 7.00992550e-01,
 -8.63794556e-02,-7.02591244e-01,-8.66808991e-02]

qacc:
[ 1.74154929e-01,-6.38778868e+00, 2.86599724e+01,-5.65727448e+01,
  5.03388268e-02,-1.70392348e+00, 5.50241945e+00,-4.67459923e+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,
  1.88840662e+00, 8.77916990e-01, 6.51852338e-01,-2.99149016e+00,
  9.14316401e+01, 7.34650993e+01]

qfrc_actuator:
[ 2.42470433e-03, 2.75032548e-02, 8.74477996e-03, 1.56260314e-03,
 -1.64801455e-06, 2.74049461e-02, 8.66632395e-03, 1.62931929e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017727261940115382
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13140018e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.13140018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00081167, -0.04701008,  0.06183041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16185303e-05,-1.83702301e-05, 5.04925458e-05,-7.71276122e-05,
  9.01879995e-06, 1.22014280e-05, 4.06321831e-05, 7.36498383e-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,
  1.08923429e-03, 1.15012927e-03,-4.90506251e+00, 1.58406334e-05,
  3.07967609e-02, 7.19042549e-03]


--- Step 2383 ---
qpos:
[-2.50318219e-03, 8.65804878e-01,-2.37758132e-02, 3.79607505e-04,
 -2.98073142e-03, 8.61862758e-01,-2.70785409e-02, 3.11323281e-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,
  7.23108355e-03,-4.27344723e-02, 7.94130927e-02, 7.01233605e-01,
 -8.70436647e-02,-7.02352509e-01,-8.59987526e-02]

qacc:
[ 6.01484624e-02,-2.65230420e+00, 1.18951699e+01,-2.65927822e+01,
  1.42434693e-01,-1.84299508e+00, 7.57176298e+00,-1.29460065e+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,
 -3.07327273e+00, 1.48536521e+00,-4.07811758e+00, 4.14615604e+00,
 -1.90609203e+02, 4.84917653e+01]

qfrc_actuator:
[ 2.42054895e-03, 2.74152955e-02, 8.72101132e-03, 1.51353083e-03,
  1.97617464e-05, 2.73893526e-02, 8.68177825e-03, 1.61401508e-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: -0.0017347880057032306
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79982145e-14,  4.79982145e-14,  1.00000000e+00, -2.30382860e-27,
        1.00000000e+00, -4.79982145e-14, -1.00000000e+00,  0.00000000e+00,
        4.79982145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04951899, -0.0588261 ,  0.06183393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09112251e-05,-9.11903575e-05,-2.40463490e-05,-4.96182941e-05,
  2.56918010e-05,-8.76146883e-08, 2.32270271e-05,-1.32332458e-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,
  2.03020070e-03, 1.82058386e-03,-4.90512782e+00, 1.09959091e-04,
  3.07970998e-02, 7.18786427e-03]


--- Step 2384 ---
qpos:
[-2.50260747e-03, 8.65807263e-01,-2.37754653e-02, 3.77339685e-04,
 -2.98031934e-03, 8.61863660e-01,-2.70778262e-02, 3.11185653e-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,
  7.23162680e-03,-4.27079667e-02, 7.94134963e-02, 7.01189652e-01,
 -8.75739325e-02,-7.02394756e-01,-8.54721263e-02]

qacc:
[ 1.26757561e-02, 2.95186889e+00,-1.15099562e+01, 1.57315614e+01,
  1.37456690e-01,-2.54533452e+00, 1.26032061e+01,-2.78728439e+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,
 -3.71355427e+00,-9.76785334e-01,-4.40806037e+00,-7.97485630e+00,
 -1.86076712e+02,-1.26049054e+02]

qfrc_actuator:
[ 2.41776732e-03, 2.74151370e-02, 8.67068984e-03, 1.52108171e-03,
  3.23851205e-05, 2.73796642e-02, 8.69061476e-03, 1.56969850e-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: -0.0017563548023493067
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16058869e-14,  3.16058869e-14,  1.00000000e+00,  9.98932086e-28,
        1.00000000e+00, -3.16058869e-14, -1.00000000e+00,  0.00000000e+00,
       -3.16058869e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0553661 , -0.03488638,  0.06183214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40482710e-06,-5.83110621e-05,-7.38632628e-05, 1.84379682e-06,
  2.48190144e-05,-5.52996120e-06, 1.12113610e-05,-4.37757517e-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,
  6.39931002e-04, 1.27787209e-03,-4.90508984e+00, 1.01773488e-04,
  3.07940759e-02, 7.18522080e-03]


--- Step 2385 ---
qpos:
[-2.50204092e-03, 8.65809897e-01,-2.37760270e-02, 3.75109765e-04,
 -2.97970723e-03, 8.61864334e-01,-2.70769208e-02, 3.10998627e-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,
  7.21844889e-03,-4.26850675e-02, 7.93946036e-02, 7.00883300e-01,
 -8.79811981e-02,-7.02696103e-01,-8.50887505e-02]

qacc:
[-4.94082518e-03, 2.94664828e+00,-1.01904277e+01, 1.21209973e+01,
  1.05520224e-01,-1.84748283e+00, 8.23924637e+00,-1.69290134e+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,
 -3.43029055e+00,-9.01595000e-01,-4.82406784e+00,-7.60213282e+00,
 -1.71464033e+02,-1.15980062e+02]

qfrc_actuator:
[ 2.41585329e-03, 2.74674723e-02, 8.64099121e-03, 1.52643701e-03,
  3.96378622e-05, 2.73557727e-02, 8.69548093e-03, 1.54417597e-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([ 8.63636364, -5.63201244,  6.54730576, -5.63201244, 58.2229197 ,
       42.65450719,  6.54730576, 42.65450719, 45.32790118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017719959852786765
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.13269058e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.13269058e-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([ 0.0553345 , -0.03489245,  0.06183077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.78448106e-07, 4.49589656e-06,-5.07964019e-05, 3.36076613e-07,
  1.90340280e-05,-2.65656710e-05, 3.57925948e-06,-2.62242286e-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,
  2.20686389e-06, 4.54024713e-05,-4.90507641e+00, 7.74254768e-05,
  3.08011698e-02, 7.18361906e-03]


--- Step 2386 ---
qpos:
[-2.50186407e-03, 8.65812258e-01,-2.37765555e-02, 3.73307295e-04,
 -2.97914480e-03, 8.61864840e-01,-2.70760906e-02, 3.10990782e-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,
  7.20856460e-03,-4.26782602e-02, 7.93829046e-02, 7.00674529e-01,
 -8.80709428e-02,-7.02902902e-01,-8.50071962e-02]

qacc:
[-2.04183856e-01, 4.27760442e-01,-3.85103949e+00, 1.13955005e+01,
 -2.60464887e-02, 3.67261433e+00,-2.09844776e+01, 5.22436590e+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,
  8.23407022e-01,-4.02300511e+00, 1.79841805e+00, 5.49840193e+00,
  9.42042660e+01,-2.09020448e+02]

qfrc_actuator:
[ 2.37897789e-03, 2.74444125e-02, 8.64169508e-03, 1.54827205e-03,
  2.58720134e-05, 2.73590565e-02, 8.69792411e-03, 1.63642274e-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: -0.0018035543216548267
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15575041e-14, -3.07787520e-14,  1.00000000e+00,  1.89466315e-27,
        1.00000000e+00,  3.07787520e-14, -1.00000000e+00,  0.00000000e+00,
        6.15575041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00673817, -0.02199891,  0.0618279 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72501569e-05,-3.10784252e-05,-4.62741652e-06, 2.02762699e-05,
 -4.73340476e-06,-1.19733675e-05,-3.51989860e-06, 9.07223308e-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,
  4.26945376e-04,-7.19821942e-04,-4.90509249e+00, 8.42709486e-05,
  3.08051688e-02, 7.18552137e-03]


--- Step 2387 ---
qpos:
[-2.50228850e-03, 8.65813807e-01,-2.37765283e-02, 3.71814146e-04,
 -2.97888128e-03, 8.61865078e-01,-2.70748579e-02, 3.11022357e-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,
  7.20171773e-03,-4.26862597e-02, 7.93748048e-02, 7.00555730e-01,
 -8.78678596e-02,-7.03022887e-01,-8.52040412e-02]

qacc:
[-3.14610901e-01,-1.98883305e+00, 4.22800080e+00, 8.31655486e-01,
 -1.57050335e-01,-6.65215437e-01, 1.95851287e-01, 6.17837535e+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,
  7.59352884e-01,-3.70167344e+00, 8.99795526e-01, 5.01669774e+00,
  8.67410447e+01,-1.92801437e+02]

qfrc_actuator:
[ 2.33926309e-03, 2.73765374e-02, 8.66006153e-03, 1.56183760e-03,
 -3.35296990e-07, 2.73431731e-02, 8.71685558e-03, 1.65522182e-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: -0.0018229490657155484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04512903e-14,  3.04512903e-14,  1.00000000e+00, -9.27281082e-28,
        1.00000000e+00, -3.04512903e-14, -1.00000000e+00,  0.00000000e+00,
        3.04512903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00674489, -0.02201756,  0.06182614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.74844476e-05,-8.53948658e-05, 1.20681472e-05, 1.24692518e-05,
 -2.84570207e-05,-1.94384004e-05, 1.91546403e-05, 1.99284312e-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,
  2.49508589e-04,-1.40469623e-04,-4.90501457e+00, 1.40998590e-04,
  3.08006202e-02, 7.18248596e-03]


--- Step 2388 ---
qpos:
[-2.50287194e-03, 8.65814617e-01,-2.37762399e-02, 3.70506766e-04,
 -2.97892411e-03, 8.61865191e-01,-2.70733504e-02, 3.10937170e-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,
  7.19769229e-03,-4.27079947e-02, 7.93672388e-02, 7.00520216e-01,
 -8.73925343e-02,-7.03062143e-01,-8.56597616e-02]

qacc:
[-8.29369895e-02,-1.32262208e+00, 2.51622756e+00, 8.22499722e-01,
 -1.61188952e-01,-3.33451200e+00, 1.65799723e+01,-3.71392523e+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,
  7.05357988e-01,-3.43387300e+00, 1.33449982e-01, 4.58255427e+00,
  8.05242667e+01,-1.79279678e+02]

qfrc_actuator:
[ 2.35147002e-03, 2.73356809e-02, 8.67073709e-03, 1.57038859e-03,
 -1.59857444e-05, 2.73337082e-02, 8.72747997e-03, 1.59512792e-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: -0.001819726857808679
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05052107e-14, -9.15156321e-14,  1.00000000e+00,  2.79170364e-27,
        1.00000000e+00,  9.15156321e-14, -1.00000000e+00,  0.00000000e+00,
        3.05052107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00674403, -0.02201377,  0.06182637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52162150e-05,-8.56219704e-05,-5.05184588e-06, 5.55412026e-06,
 -2.91618307e-05,-1.55442423e-05, 9.64790741e-06,-5.98780067e-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,
  1.29253305e-04, 1.65771475e-04,-4.90501713e+00, 1.39017597e-04,
  3.08012673e-02, 7.18220324e-03]


--- Step 2389 ---
qpos:
[-2.50345131e-03, 8.65815314e-01,-2.37760686e-02, 3.68911999e-04,
 -2.97920899e-03, 8.61865553e-01,-2.70722122e-02, 3.10849368e-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,
  7.19630574e-03,-4.27425700e-02, 7.93575907e-02, 7.00562079e-01,
 -8.66621350e-02,-7.03025412e-01,-8.63580837e-02]

qacc:
[ 2.08640619e-03,-4.11788544e-01, 2.46701588e+00,-7.17112889e+00,
 -1.27798039e-01, 1.30624682e+00,-4.06973529e+00, 4.02585084e+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,
  6.59721458e-01,-3.21009399e+00,-5.20526084e-01, 4.18672287e+00,
  7.53417915e+01,-1.68005778e+02]

qfrc_actuator:
[ 2.35912296e-03, 2.73645442e-02, 8.67687031e-03, 1.55817804e-03,
 -2.51750685e-05, 2.73635647e-02, 8.71533408e-03, 1.59561817e-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: -0.0017982706535276533
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.08691860e-14,  3.08691860e-14,  1.00000000e+00,  9.52906643e-28,
        1.00000000e+00, -3.08691860e-14, -1.00000000e+00,  0.00000000e+00,
       -3.08691860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00673715, -0.02199208,  0.0618282 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85431812e-07,-1.98404527e-05,-1.19866163e-05,-1.59444440e-05,
 -2.30334964e-05, 2.05750951e-05,-1.62511106e-05,-1.00799077e-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,
  5.44436643e-05, 2.55276193e-04,-4.90508254e+00, 8.68717863e-05,
  3.08058928e-02, 7.18421897e-03]


--- Step 2390 ---
qpos:
[-2.50397847e-03, 8.65816478e-01,-2.37762033e-02, 3.68156643e-04,
 -2.97966398e-03, 8.61866237e-01,-2.70715854e-02, 3.10762842e-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,
  7.19740317e-03,-4.27892353e-02, 7.93436259e-02, 7.00676071e-01,
 -8.56909679e-02,-7.02916318e-01,-8.72854619e-02]

qacc:
[ 2.70618871e-02, 3.19705076e+00,-1.40501544e+01, 2.87265260e+01,
 -9.00288854e-02, 1.87771989e+00,-6.13464416e+00, 6.93971906e+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,
  6.20997338e-01,-3.02247388e+00,-1.07915848e+00, 3.82119900e+00,
  7.10226603e+01,-1.58617088e+02]

qfrc_actuator:
[ 2.36394402e-03, 2.74349080e-02, 8.68055207e-03, 1.60491995e-03,
 -3.04294842e-05, 2.73811841e-02, 8.69006020e-03, 1.59627921e-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: -0.001762259073095039
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57499973e-14,  7.87499864e-15,  1.00000000e+00,  1.24031207e-28,
        1.00000000e+00, -7.87499864e-15, -1.00000000e+00,  0.00000000e+00,
       -1.57499973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672551, -0.0219562 ,  0.06183127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00145509e-06, 5.60964947e-05,-2.44854225e-06, 4.51679412e-05,
 -1.61855831e-05, 2.57058086e-05,-2.30720635e-05, 9.59730303e-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,
  1.63591462e-05, 1.69637332e-04,-4.90519856e+00,-9.01796119e-06,
  3.08135158e-02, 7.18817120e-03]


--- Step 2391 ---
qpos:
[-2.50407695e-03, 8.65817667e-01,-2.37767765e-02, 3.69413816e-04,
 -2.98022966e-03, 8.61866562e-01,-2.70713047e-02, 3.10754511e-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,
  7.20809130e-03,-4.28314781e-02, 7.93454873e-02, 7.00976010e-01,
 -8.48419632e-02,-7.02618376e-01,-8.81016038e-02]

qacc:
[ 2.24579389e-01, 5.39852639e+00,-2.76985306e+01, 6.32155678e+01,
 -5.83440166e-02, 2.10184404e+00,-1.14828424e+01, 2.58351131e+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,
  2.39767169e+00, 1.10561645e+00, 3.95653944e+00,-3.97807422e+00,
  1.21415676e+02, 9.81118504e+01]

qfrc_actuator:
[ 2.40252146e-03, 2.74053706e-02, 8.64749329e-03, 1.70377412e-03,
 -3.32980670e-05, 2.73202791e-02, 8.65719938e-03, 1.63251955e-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: -0.0017866188069185496
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10705065e-14, -6.21410130e-14,  1.00000000e+00,  1.93075275e-27,
        1.00000000e+00,  6.21410130e-14, -1.00000000e+00,  0.00000000e+00,
        3.10705065e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079913, -0.04700316,  0.06182903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09662251e-05, 3.23614553e-06,-2.02181103e-05, 1.02051233e-04,
 -1.05483760e-05,-5.12767540e-05,-3.03702755e-05, 3.65611936e-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,
  8.48791119e-06,-6.03832961e-05,-4.90535673e+00,-1.43814605e-04,
  3.08233230e-02, 7.19376571e-03]


--- Step 2392 ---
qpos:
[-2.50410249e-03, 8.65818091e-01,-2.37764421e-02, 3.70818946e-04,
 -2.98086286e-03, 8.61866317e-01,-2.70710105e-02, 3.10790010e-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,
  7.20387800e-03,-4.28668413e-02, 7.93356703e-02, 7.00966816e-01,
 -8.41107179e-02,-7.02628620e-01,-8.87915108e-02]

qacc:
[ 3.90904784e-02,-3.23953296e+00, 9.46194864e+00,-7.79420798e+00,
 -3.53175906e-02, 1.11056530e-01,-3.33949927e+00, 1.13229620e+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,
 -3.72535513e+00, 1.71988574e+00,-2.91960370e+00, 3.53632444e+00,
 -2.27158684e+02, 5.89228454e+01]

qfrc_actuator:
[ 2.38994485e-03, 2.73339002e-02, 8.68140833e-03, 1.70811834e-03,
 -3.47265272e-05, 2.72838207e-02, 8.65533089e-03, 1.65382791e-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: -0.0018306125010542976
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.0323813e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.0323813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0493529 , -0.05873678,  0.06182517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95361845e-06,-6.94853577e-05, 3.56173253e-05, 5.76615758e-06,
 -6.44223923e-06,-6.98483699e-05,-1.49394773e-05, 1.87716343e-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,
  2.67627758e-04,-1.15882480e-03,-4.90528391e+00,-2.67765211e-04,
  3.08143404e-02, 7.19835186e-03]


--- Step 2393 ---
qpos:
[-2.50491575e-03, 8.65818264e-01,-2.37755011e-02, 3.71184429e-04,
 -2.98116113e-03, 8.61865955e-01,-2.70708566e-02, 3.10707869e-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,
  7.18812428e-03,-4.28919472e-02, 7.93208608e-02, 7.00714409e-01,
 -8.35703259e-02,-7.02884031e-01,-8.92712547e-02]

qacc:
[-4.12591050e-01,-4.16365776e+00, 1.87563148e+01,-3.75389622e+01,
  1.76274488e-01,-2.18402969e+00, 1.25281445e+01,-3.25790286e+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,
 -2.88510510e+00, 2.56434004e+00,-1.24811535e+00, 7.59832726e+00,
 -1.88683681e+02, 1.19599795e+02]

qfrc_actuator:
[ 2.31135481e-03, 2.73445651e-02, 8.71883166e-03, 1.65681615e-03,
  2.15442933e-07, 2.72978909e-02, 8.65408398e-03, 1.59519742e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018624864821828752
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91349065e-07,  2.98048613e-14,  1.00000000e+00, -1.16641046e-20,
        1.00000000e+00, -2.98048613e-14, -1.00000000e+00,  1.50463277e-36,
        3.91349065e-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([ 0.03753273, -0.06134281,  0.06182232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.52847814e-05,-2.06007728e-05, 2.76519572e-05,-5.29371397e-05,
  3.18751291e-05,-2.72663899e-05,-1.68642120e-05,-6.17748594e-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,
  5.97472695e-05, 3.87902575e-04,-4.90521499e+00,-2.19741004e-04,
  3.08134276e-02, 7.19612230e-03]


--- Step 2394 ---
qpos:
[-2.50621825e-03, 8.65818763e-01,-2.37751932e-02, 3.70598585e-04,
 -2.98108099e-03, 8.61865472e-01,-2.70710478e-02, 3.10557550e-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,
  7.16855251e-03,-4.29016248e-02, 7.93082290e-02, 7.00365909e-01,
 -8.33295875e-02,-7.03239335e-01,-8.94327158e-02]

qacc:
[-2.57080283e-01, 2.40007522e-01, 3.78381074e+00,-1.94740438e+01,
  1.99071521e-01,-5.97496393e-01, 4.77844022e+00,-1.59380097e+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,
 -9.54512434e-01, 3.85706372e+00, 5.44414516e-01, 7.31572894e+00,
 -9.54431985e+01, 2.08360548e+02]

qfrc_actuator:
[ 2.30050398e-03, 2.73687975e-02, 8.68728739e-03, 1.60875979e-03,
  2.10989770e-05, 2.72887962e-02, 8.63560583e-03, 1.56105353e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018963984030693007
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.85437650e-14,  2.92718825e-14,  1.00000000e+00, -1.71368621e-27,
        1.00000000e+00, -2.92718825e-14, -1.00000000e+00,  0.00000000e+00,
        5.85437650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02135055, -0.06492507,  0.0618193 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67509845e-05, 1.61366411e-05,-3.42321287e-05,-4.90132587e-05,
  3.60123816e-05,-3.04580100e-05,-2.83228589e-05,-3.70970018e-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,
  6.31688020e-04, 9.38544729e-04,-4.90516684e+00,-1.97900470e-04,
  3.08136827e-02, 7.19358713e-03]


--- Step 2395 ---
qpos:
[-2.50762774e-03, 8.65818999e-01,-2.37750998e-02, 3.70179344e-04,
 -2.98087865e-03, 8.61864219e-01,-2.70710146e-02, 3.10544602e-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,
  7.14548276e-03,-4.28970733e-02, 7.92945958e-02, 6.99928423e-01,
 -8.33650603e-02,-7.03687359e-01,-8.93004544e-02]

qacc:
[-5.61256202e-02, 5.94125445e-01,-3.32730962e+00, 6.74820330e+00,
  6.48529514e-02, 1.18157256e+00,-1.14902887e+01, 3.54741450e+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,
 -8.74494182e-01, 3.55727366e+00,-2.50353170e-01, 6.99257807e+00,
 -8.83476420e+01, 1.92135512e+02]

qfrc_actuator:
[ 2.31256066e-03, 2.73296839e-02, 8.66861746e-03, 1.61623638e-03,
  1.56173688e-05, 2.72303463e-02, 8.64255518e-03, 1.63034071e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019039417997362695
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91559076e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.91559076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02134891, -0.06491697,  0.0618186 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02329765e-05,-3.92762226e-05,-2.12549625e-05, 6.02950160e-06,
  1.16105845e-05,-8.28999880e-05,-4.10751650e-06, 6.62827881e-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,
  9.06992586e-04, 3.71627436e-04,-4.90507672e+00,-2.24615974e-04,
  3.08073441e-02, 7.19117736e-03]


--- Step 2396 ---
qpos:
[-2.50937745e-03, 8.65818782e-01,-2.37748962e-02, 3.70545662e-04,
 -2.98065450e-03, 8.61862288e-01,-2.70708821e-02, 3.10614460e-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,
  7.12541955e-03,-4.28789193e-02, 7.92865757e-02, 6.99521663e-01,
 -8.36743128e-02,-7.04106508e-01,-8.88936299e-02]

qacc:
[-1.78115305e-01, 7.11090889e-01,-6.71889713e+00, 2.04703702e+01,
  1.18390796e-02, 5.31501029e-01,-6.69039293e+00, 2.13616224e+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,
  7.51633976e-01, 3.40065313e+00, 1.40328442e+00, 7.81769256e-01,
 -2.75303986e+00, 1.94990469e+02]

qfrc_actuator:
[ 2.28491739e-03, 2.73062797e-02, 8.67525960e-03, 1.65629533e-03,
  1.21741452e-05, 2.71962401e-02, 8.64657679e-03, 1.67114057e-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([ 8.63636364,  7.92876213, -3.42366879,  7.92876213, 21.71235691,
       30.2822634 , -3.42366879, 30.2822634 , 78.76606298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019040482642358747
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91542774e-14,  2.91542774e-14,  1.00000000e+00, -8.49971889e-28,
        1.00000000e+00, -2.91542774e-14, -1.00000000e+00,  0.00000000e+00,
        2.91542774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00968805, -0.06048903,  0.06181854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25276561e-05,-4.95022966e-05,-3.88043876e-06, 3.77586790e-05,
  2.05715608e-06,-7.84394021e-05,-1.13015458e-05, 3.83985360e-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,
  1.20726199e-03,-3.86873055e-04,-4.90500395e+00,-2.53267061e-04,
  3.07984504e-02, 7.18734307e-03]


--- Step 2397 ---
qpos:
[-2.51089633e-03, 8.65818671e-01,-2.37754070e-02, 3.71374161e-04,
 -2.98025656e-03, 8.61860898e-01,-2.70719965e-02, 3.10588171e-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,
  7.11510003e-03,-4.28561055e-02, 7.92931056e-02, 6.99293598e-01,
 -8.40977071e-02,-7.04346530e-01,-8.83855498e-02]

qacc:
[ 1.20566730e-01, 3.08616109e+00,-1.27524917e+01, 2.18185450e+01,
  9.04874704e-02, 2.21612770e+00,-2.80857597e+00,-1.22313851e+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,
  2.43592092e+00, 1.16492146e+00, 3.63750637e+00,-4.76059147e+00,
  1.16252869e+02, 9.10358900e+01]

qfrc_actuator:
[ 2.32249335e-03, 2.73281009e-02, 8.64359202e-03, 1.67971284e-03,
  2.77580923e-05, 2.72657186e-02, 8.59561932e-03, 1.62383370e-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: -0.0019014698164700333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91938114e-14,  5.83876228e-14,  1.00000000e+00, -1.70455725e-27,
        1.00000000e+00, -5.83876228e-14, -1.00000000e+00,  0.00000000e+00,
        2.91938114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00071921, -0.04699269,  0.06181875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20598880e-05,-5.04086899e-06,-4.10614130e-05, 2.18978548e-05,
  1.65503894e-05, 2.49722935e-05,-6.72074539e-05,-5.03091290e-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,
  8.89938704e-04,-9.78715993e-04,-4.90494160e+00,-2.70049619e-04,
  3.07881505e-02, 7.18655883e-03]


--- Step 2398 ---
qpos:
[-2.51206439e-03, 8.65818932e-01,-2.37767133e-02, 3.71757392e-04,
 -2.97949424e-03, 8.61860236e-01,-2.70737150e-02, 3.10567490e-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,
  7.11382357e-03,-4.28289878e-02, 7.93104567e-02, 6.99231803e-01,
 -8.46280586e-02,-7.04419815e-01,-8.77821269e-02]

qacc:
[ 1.83280729e-01, 1.79527607e+00,-3.81078277e+00,-2.89361603e+00,
  1.91263856e-01, 2.76240731e+00,-8.69286468e+00, 1.00981047e+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,
  2.26076635e+00, 1.07598168e+00, 2.70528604e+00,-4.19716043e+00,
  1.08118648e+02, 8.53627330e+01]

qfrc_actuator:
[ 2.34550797e-03, 2.73589267e-02, 8.60747178e-03, 1.65764937e-03,
  5.45976451e-05, 2.73431426e-02, 8.58399134e-03, 1.63163687e-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: -0.0018932532738985333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93205098e-14, -2.93205098e-14,  1.00000000e+00,  8.59692297e-28,
        1.00000000e+00,  2.93205098e-14, -1.00000000e+00,  0.00000000e+00,
        2.93205098e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072664, -0.0469968 ,  0.06181955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35332253e-05, 2.04758094e-05,-4.14579213e-05,-2.32747360e-05,
  3.47006948e-05, 7.53972201e-05,-1.64725006e-05, 5.57144525e-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,
  2.13715456e-04,-5.80985382e-04,-4.90492798e+00,-2.19090449e-04,
  3.07863716e-02, 7.18939976e-03]


--- Step 2399 ---
qpos:
[-2.51328934e-03, 8.65818805e-01,-2.37778554e-02, 3.71213979e-04,
 -2.97876828e-03, 8.61860052e-01,-2.70747322e-02, 3.10584799e-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,
  7.12101581e-03,-4.27978513e-02, 7.93354811e-02, 6.99325821e-01,
 -8.52593648e-02,-7.04336478e-01,-8.70882379e-02]

qacc:
[-2.96345251e-02,-2.87735125e+00, 1.34284729e+01,-2.94450492e+01,
 -1.88541886e-02,-5.44393322e-01, 1.25534285e+00, 3.84496889e+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,
  2.11717576e+00, 1.00470184e+00, 1.91832748e+00,-3.71346850e+00,
  1.01377690e+02, 8.06518140e+01]

qfrc_actuator:
[ 2.32406822e-03, 2.73060843e-02, 8.60455205e-03, 1.60901990e-03,
  3.46725572e-05, 2.73894250e-02, 8.63132232e-03, 1.65412048e-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: -0.001868488277180863
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.97091247e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.97091247e-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([-0.00074566, -0.04700382,  0.06182185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.44682407e-06,-5.09421150e-05,-4.59610111e-06,-4.96396254e-05,
 -3.44336405e-06, 8.53135995e-05, 6.10844347e-05, 2.52552130e-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,
  3.67425428e-06,-2.43317323e-05,-4.90493818e+00,-1.45250759e-04,
  3.07854969e-02, 7.19062742e-03]


--- Step 2400 ---
qpos:
[-2.51429902e-03, 8.65818350e-01,-2.37790498e-02, 3.70445439e-04,
 -2.97818790e-03, 8.61860045e-01,-2.70752429e-02, 3.10565033e-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,
  7.13620785e-03,-4.27629233e-02, 7.93655243e-02, 6.99566846e-01,
 -8.59866236e-02,-7.04104736e-01,-8.63078716e-02]

qacc:
[ 1.12942912e-01,-7.50588408e-01, 2.99741164e+00,-6.56891545e+00,
 -7.64336394e-02,-1.94214201e+00, 8.83127078e+00,-1.61905510e+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,
  1.99994822e+00, 9.47873605e-01, 1.25470912e+00,-3.29184934e+00,
  9.57982771e+01, 7.67571450e+01]

qfrc_actuator:
[ 2.34723374e-03, 2.72924147e-02, 8.60315852e-03, 1.59836819e-03,
  2.24489396e-05, 2.73637233e-02, 8.64195439e-03, 1.63180822e-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: -0.0018306408824525777
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03233429e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.03233429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077379, -0.04701317,  0.06182533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05640466e-05,-4.52164285e-05,-1.41872806e-05,-1.39562632e-05,
 -1.38488672e-05, 3.57127539e-05, 3.66611995e-05,-1.60501315e-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,
  1.74713935e-04, 6.64340861e-04,-4.90496844e+00,-5.16421253e-05,
  3.07851706e-02, 7.19053923e-03]


--- Step 2401 ---
qpos:
[-2.51505772e-03, 8.65817541e-01,-2.37799963e-02, 3.69882821e-04,
 -2.97756856e-03, 8.61859835e-01,-2.70756488e-02, 3.10526565e-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,
  7.15901873e-03,-4.27243838e-02, 7.93983504e-02, 6.99947452e-01,
 -8.68056831e-02,-7.03731211e-01,-8.54442513e-02]

qacc:
[ 1.31877856e-01,-7.37022732e-01, 1.07867606e+00, 2.34878767e+00,
  2.06512322e-02,-9.46178887e-01, 3.77358684e+00,-7.02979237e+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,
  1.90471096e+00, 9.02881381e-01, 6.95718431e-01,-2.91805713e+00,
  9.11921245e+01, 7.35588181e+01]

qfrc_actuator:
[ 2.36140776e-03, 2.72845918e-02, 8.62058422e-03, 1.61017230e-03,
  3.27225991e-05, 2.73126934e-02, 8.63048141e-03, 1.61872236e-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: -0.001782611716108315
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.11403491e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.11403491e-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([-0.000809  , -0.0470244 ,  0.06182972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39760246e-05,-3.66091588e-05, 5.87066331e-06, 9.10796171e-06,
  3.70381539e-06,-2.41734872e-05,-1.31278276e-07,-1.05982046e-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,
  6.64637057e-04, 1.46604386e-03,-4.90501721e+00, 5.94598639e-05,
  3.07850949e-02, 7.18935407e-03]


--- Step 2402 ---
qpos:
[-2.51542041e-03, 8.65816491e-01,-2.37807911e-02, 3.69802817e-04,
 -2.97705544e-03, 8.61859902e-01,-2.70763839e-02, 3.10504155e-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,
  7.18505714e-03,-4.26999322e-02, 7.94333286e-02, 7.00412197e-01,
 -8.73391153e-02,-7.03273957e-01,-8.48550226e-02]

qacc:
[ 2.07836629e-01, 2.51736482e-01,-3.39570783e+00, 1.16820668e+01,
 -5.62400114e-02, 1.61520043e+00,-5.90664042e+00, 9.01057464e+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,
  8.06883592e-01,-3.52199967e+00, 5.38037167e-01, 3.48786595e+00,
  8.30205880e+01,-1.89303782e+02]

qfrc_actuator:
[ 2.38781770e-03, 2.72804349e-02, 8.63126953e-03, 1.63510888e-03,
  2.08630436e-05, 2.73532922e-02, 8.62369703e-03, 1.62888958e-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: -0.0017622520161331978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.45003621e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.45003621e-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([ 0.00669321, -0.02196386,  0.06183169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78398364e-05,-2.29934961e-05, 4.17770423e-06, 2.37520963e-05,
 -1.01041843e-05, 2.66097362e-05,-1.21543929e-05, 8.92230343e-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,
  1.42818829e-03, 2.36766835e-03,-4.90508450e+00, 1.86407172e-04,
  3.07850088e-02, 7.18723388e-03]


--- Step 2403 ---
qpos:
[-2.51487224e-03, 8.65815526e-01,-2.37813333e-02, 3.70318053e-04,
 -2.97685558e-03, 8.61860561e-01,-2.70776112e-02, 3.10387499e-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,
  7.21409009e-03,-4.26886440e-02, 7.94676954e-02, 7.00956321e-01,
 -8.76065712e-02,-7.02738601e-01,-8.45209069e-02]

qacc:
[ 4.77735351e-01, 6.32299899e-01,-4.60416611e+00, 1.44399248e+01,
 -1.65558893e-01, 2.16959158e-01, 4.33965672e+00,-2.02983115e+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,
  7.48633950e-01,-3.29082751e+00,-1.52860923e-01, 3.59213269e+00,
  7.76899122e+01,-1.76090671e+02]

qfrc_actuator:
[ 2.45682903e-03, 2.73140103e-02, 8.65566016e-03, 1.66756590e-03,
 -4.14683782e-06, 2.73952110e-02, 8.60236534e-03, 1.58172530e-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: -0.001757732835907147
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15811084e-14,  9.47433252e-14,  1.00000000e+00, -2.99209922e-27,
        1.00000000e+00, -9.47433252e-14, -1.00000000e+00,  0.00000000e+00,
        3.15811084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00668928, -0.02195753,  0.06183229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.70535266e-05, 2.26347902e-05, 2.09928614e-05, 3.20813908e-05,
 -2.98029889e-05, 5.46737049e-05,-1.70190643e-05,-4.62698712e-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,
  1.75954016e-03, 1.67798118e-03,-4.90503500e+00, 2.27864688e-04,
  3.07848826e-02, 7.18805330e-03]


--- Step 2404 ---
qpos:
[-2.51420755e-03, 8.65814643e-01,-2.37810236e-02, 3.71175795e-04,
 -2.97658782e-03, 8.61861400e-01,-2.70789436e-02, 3.10183334e-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,
  7.24592509e-03,-4.26897524e-02, 7.94991027e-02, 7.01575609e-01,
 -8.76244184e-02,-7.02129544e-01,-8.44258794e-02]

qacc:
[ 6.16213508e-02,-1.56507765e+00, 4.29426869e+00, 2.07787979e-01,
  3.55799765e-02,-1.26894540e+00, 8.56490465e+00,-2.36760640e+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,
  7.00512685e-01,-3.09914964e+00,-7.39889023e-01, 3.65202941e+00,
  7.32622145e+01,-1.65095274e+02]

qfrc_actuator:
[ 2.42645952e-03, 2.73344904e-02, 8.70586525e-03, 1.68647687e-03,
  1.64605142e-05, 2.73842382e-02, 8.59035261e-03, 1.53670619e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017364230176557527
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.39373593e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.39373593e-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([ 0.00668011, -0.02193454,  0.06183435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11433510e-05, 3.88829335e-05, 5.85861293e-05, 2.12317778e-05,
  6.46767438e-06, 1.40945432e-05,-4.41296848e-06,-4.41636271e-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,
  2.10439138e-03, 8.58507507e-04,-4.90504160e+00, 2.22514675e-04,
  3.07874174e-02, 7.19069138e-03]


--- Step 2405 ---
qpos:
[-2.51368150e-03, 8.65814140e-01,-2.37807327e-02, 3.71930192e-04,
 -2.97578636e-03, 8.61862066e-01,-2.70803144e-02, 3.10034566e-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,
  7.26200386e-03,-4.26953491e-02, 7.95138985e-02, 7.01898938e-01,
 -8.75111453e-02,-7.01812433e-01,-8.44925389e-02]

qacc:
[-7.28425956e-02, 3.40324971e-01,-5.09489421e-02,-1.98567859e+00,
  2.81147797e-01, 1.01798438e+00,-6.30153471e+00, 1.60797458e+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,
 -3.93905848e+00,-1.12207843e+00,-4.15285420e+00,-1.14100582e+01,
 -1.93693467e+02,-1.28033688e+02]

qfrc_actuator:
[ 2.40790202e-03, 2.73470819e-02, 8.69984790e-03, 1.67952223e-03,
  6.41823453e-05, 2.73594581e-02, 8.58374093e-03, 1.56429435e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017560671326041014
  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([ 0.05536419, -0.03482252,  0.06183279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32390253e-05, 4.73606877e-05, 9.96854937e-06,-2.84872970e-06,
  5.07944541e-05,-1.97077374e-05,-5.76616606e-06, 2.71833059e-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,
  2.46102780e-03,-6.86828628e-05,-4.90509776e+00, 1.75933907e-04,
  3.07923886e-02, 7.19499217e-03]


--- Step 2406 ---
qpos:
[-2.51315355e-03, 8.65813637e-01,-2.37797544e-02, 3.72250213e-04,
 -2.97462377e-03, 8.61861935e-01,-2.70817582e-02, 3.09997446e-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,
  7.26360021e-03,-4.27050264e-02, 7.95102747e-02, 7.01950936e-01,
 -8.72764615e-02,-7.01763696e-01,-8.47078366e-02]

qacc:
[ 1.40222410e-03,-2.81166082e+00, 1.18621455e+01,-2.04823865e+01,
  1.90485551e-01, 1.44743049e+00,-1.14037015e+01, 3.14314131e+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,
 -3.62060284e+00,-1.02016244e+00,-4.60490351e+00,-1.00834231e+01,
 -1.77763908e+02,-1.17973822e+02]

qfrc_actuator:
[ 2.41439292e-03, 2.73368583e-02, 8.73163770e-03, 1.65735705e-03,
  7.44220019e-05, 2.72734171e-02, 8.56259276e-03, 1.61661519e-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([  8.63636364,   6.68949603,   5.46236393,   6.68949603,
        37.89420544, -35.83068044,   5.46236393, -35.83068044,
        52.51648539,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00178322063039648
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.11297157e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.11297157e-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([ 0.0553123 , -0.03482856,  0.0618305 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84753363e-07, 1.82021846e-05, 4.27011533e-05,-1.98475169e-05,
  3.43487587e-05,-9.70839957e-05,-2.49807031e-05, 5.18087514e-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,
  6.15216691e-04,-2.53592995e-04,-4.90504659e+00, 1.25960637e-04,
  3.07976870e-02, 7.18599839e-03]


--- Step 2407 ---
qpos:
[-2.51314361e-03, 8.65813652e-01,-2.37779985e-02, 3.71538113e-04,
 -2.97323231e-03, 8.61860602e-01,-2.70823392e-02, 3.09987610e-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,
  7.25179918e-03,-4.27184425e-02, 7.94866679e-02, 7.01751968e-01,
 -8.69285316e-02,-7.01963165e-01,-8.50606859e-02]

qacc:
[-2.71341025e-01,-3.61187297e+00, 1.82289110e+01,-3.77187480e+01,
  1.21528305e-01,-3.43284780e+00, 8.78759488e+00,-4.56669484e+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,
 -3.34934534e+00,-9.34682009e-01,-4.99576392e+00,-8.95696782e+00,
 -1.64375198e+02,-1.09473894e+02]

qfrc_actuator:
[ 2.36481724e-03, 2.74019349e-02, 8.78541311e-03, 1.60868530e-03,
  7.98840899e-05, 2.72045707e-02, 8.60378300e-03, 1.62973365e-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([  8.63636364,   7.00915721,   5.0456409 ,   7.00915721,
        35.90270167, -37.87706134,   5.0456409 , -37.87706134,
        61.2533221 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017845810411204269
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11059851e-14, -6.22119702e-14,  1.00000000e+00,  1.93516462e-27,
        1.00000000e+00,  6.22119702e-14, -1.00000000e+00,  0.00000000e+00,
        3.11059851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05530911, -0.03482611,  0.06183035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94853028e-05, 8.32266076e-05, 6.21040924e-05,-4.68017460e-05,
  2.17549106e-05,-1.26053774e-04, 1.98678607e-05, 9.10589231e-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,
  4.97811277e-06,-3.84474766e-05,-4.90502798e+00, 1.06466437e-04,
  3.07985651e-02, 7.18255486e-03]


--- Step 2408 ---
qpos:
[-2.51331735e-03, 8.65815000e-01,-2.37768247e-02, 3.70236571e-04,
 -2.97170520e-03, 8.61858582e-01,-2.70822871e-02, 3.09953993e-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,
  7.22753509e-03,-4.27353079e-02, 7.94417232e-02, 7.01318865e-01,
 -8.64742058e-02,-7.02393542e-01,-8.55416439e-02]

qacc:
[-9.71766481e-02, 2.17216251e+00,-2.70365559e+00,-7.54335281e+00,
  7.20698159e-02,-3.16383210e+00, 1.09690323e+01,-1.55957044e+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,
 -3.11576716e+00,-8.62327068e-01,-5.33447378e+00,-7.98797969e+00,
 -1.53103783e+02,-1.02287434e+02]

qfrc_actuator:
[ 2.37088393e-03, 2.74939223e-02, 8.76325150e-03, 1.58038636e-03,
  8.24674306e-05, 2.72000219e-02, 8.64596452e-03, 1.61972775e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017650045489392835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14509961e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.14509961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05534461, -0.03481688,  0.0618319 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75197166e-05, 1.49328679e-04, 1.04663711e-06,-2.34962193e-05,
  1.28944433e-05,-7.05023499e-05, 1.89263693e-05,-1.45381149e-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,
  3.64917361e-04, 4.91562642e-04,-4.90503663e+00, 1.09578944e-04,
  3.07963120e-02, 7.18337513e-03]


--- Step 2409 ---
qpos:
[-2.51372426e-03, 8.65816824e-01,-2.37761952e-02, 3.69404711e-04,
 -2.97029119e-03, 8.61855933e-01,-2.70820370e-02, 3.09945422e-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,
  7.19162225e-03,-4.27553750e-02, 7.93742631e-02, 7.00665513e-01,
 -8.59192077e-02,-7.03039951e-01,-8.61426527e-02]

qacc:
[-1.22731080e-01, 3.11617668e+00,-1.21801599e+01, 2.08310484e+01,
 -5.92028244e-02,-8.68400574e-01, 8.32737664e-01, 3.64699839e+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,
 -2.91218686e+00,-8.00442711e-01,-5.62881831e+00,-7.14281973e+00,
 -1.43607865e+02,-9.62135783e+01]

qfrc_actuator:
[ 2.35695102e-03, 2.74590132e-02, 8.71432910e-03, 1.59978655e-03,
  6.55725728e-05, 2.71630078e-02, 8.65312004e-03, 1.63175398e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017285863211362884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.42272249e-14,  3.21136125e-14,  1.00000000e+00, -2.06256821e-27,
        1.00000000e+00, -3.21136125e-14, -1.00000000e+00,  0.00000000e+00,
        6.42272249e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05541072, -0.03480229,  0.06183479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22713933e-05, 4.77614013e-05,-1.87830404e-05, 2.53742642e-05,
 -1.07825967e-05,-7.31013012e-05,-5.56031209e-06, 9.38147980e-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,
  1.49998678e-03, 1.27375470e-03,-4.90506441e+00, 1.29584741e-04,
  3.07918104e-02, 7.18749706e-03]


--- Step 2410 ---
qpos:
[-2.51469790e-03, 8.65817995e-01,-2.37753812e-02, 3.69944910e-04,
 -2.96904273e-03, 8.61853105e-01,-2.70818658e-02, 3.09912891e-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,
  7.16762651e-03,-4.27708475e-02, 7.93340427e-02, 7.00233073e-01,
 -8.55117732e-02,-7.03463754e-01,-8.66032708e-02]

qacc:
[-2.96728532e-01, 1.44560616e+00,-1.21984306e+01, 3.61290445e+01,
 -8.71837184e-02,-5.07205755e-01, 2.47937836e+00,-6.36963079e+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,
  2.97927642e+00, 1.14868289e+00, 6.80988273e+00,-2.44382040e+00,
  1.43254306e+02, 1.20133120e+02]

qfrc_actuator:
[ 2.31338867e-03, 2.73660413e-02, 8.70280304e-03, 1.66473549e-03,
  5.49379168e-05, 2.71777421e-02, 8.65719455e-03, 1.62110110e-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: -0.0017465013792196686
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86611190e-07, -2.86611208e-07,  1.00000000e+00, -8.21459794e-14,
        1.00000000e+00,  2.86611208e-07, -1.00000000e+00,  0.00000000e+00,
       -2.86611190e-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([-0.00067433, -0.04690356,  0.06183279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.41800578e-05,-6.91058154e-05,-3.11513925e-06, 6.68366621e-05,
 -1.57621178e-05,-2.68284191e-05,-1.13638559e-05,-1.37902674e-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,
  3.26669101e-03, 2.26208629e-03,-4.90510184e+00, 1.62347789e-04,
  3.07856528e-02, 7.19418761e-03]


--- Step 2411 ---
qpos:
[-2.51583625e-03, 8.65818866e-01,-2.37742395e-02, 3.71549694e-04,
 -2.96813079e-03, 8.61850868e-01,-2.70825744e-02, 3.09828913e-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,
  7.15457624e-03,-4.27819487e-02, 7.93153149e-02, 7.00004154e-01,
 -8.52410369e-02,-7.03683498e-01,-8.69349418e-02]

qacc:
[-8.59977996e-02, 8.80830579e-01,-8.20769675e+00, 2.63275620e+01,
 -1.78029590e-01, 2.17645828e+00,-4.45890140e+00,-3.46899709e+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,
  2.73636766e+00, 1.09279974e+00, 5.37318563e+00,-2.63990247e+00,
  1.31596549e+02, 1.10765168e+02]

qfrc_actuator:
[ 2.32348601e-03, 2.73811925e-02, 8.73095632e-03, 1.72041817e-03,
  3.04044292e-05, 2.72410781e-02, 8.62411287e-03, 1.59723062e-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: -0.0018043168047120195
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.15314906e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.15314906e-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([-0.00078862, -0.04700642,  0.06182747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57489728e-05,-2.13114022e-05, 1.57951998e-05, 5.39127100e-05,
 -3.20186001e-05, 4.54614048e-05,-4.04781319e-05,-2.56767280e-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,
  1.45669991e-03, 1.15582198e-03,-4.90501735e+00, 4.44446022e-05,
  3.07891442e-02, 7.19394845e-03]


--- Step 2412 ---
qpos:
[-2.51661256e-03, 8.65819729e-01,-2.37728077e-02, 3.72392292e-04,
 -2.96772144e-03, 8.61849120e-01,-2.70839965e-02, 3.09682549e-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,
  7.15158039e-03,-4.27889673e-02, 7.93133155e-02, 6.99962734e-01,
 -8.50955791e-02,-7.03715803e-01,-8.71492008e-02]

qacc:
[ 1.89972679e-01,-2.39114315e+00, 1.17253658e+01,-2.53745640e+01,
 -2.65360977e-01, 1.35345677e+00,-1.25603785e+00,-8.75787083e+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,
  2.51360379e+00, 1.02066453e+00, 4.18207139e+00,-2.69352955e+00,
  1.21124610e+02, 1.01311509e+02]

qfrc_actuator:
[ 2.36560386e-03, 2.73901141e-02, 8.74719498e-03, 1.68153659e-03,
 -2.23115786e-06, 2.72618678e-02, 8.58732258e-03, 1.56580030e-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: -0.0018334221667648254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02773427e-14, -9.08320281e-14,  1.00000000e+00,  2.75015244e-27,
        1.00000000e+00,  9.08320281e-14, -1.00000000e+00,  0.00000000e+00,
        3.02773427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076826, -0.04699738,  0.06182481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.46020830e-05, 2.54473291e-06, 1.56318912e-05,-3.82034693e-05,
 -4.78280882e-05, 3.68075070e-05,-3.32523633e-05,-3.13774326e-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,
  4.30961051e-04, 4.48917509e-04,-4.90497691e+00,-3.11733839e-05,
  3.07925209e-02, 7.19288443e-03]


--- Step 2413 ---
qpos:
[-2.51695079e-03, 8.65820341e-01,-2.37710566e-02, 3.72446253e-04,
 -2.96775499e-03, 8.61847881e-01,-2.70857095e-02, 3.09600030e-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,
  7.15790485e-03,-4.27921450e-02, 7.93240131e-02, 7.00095360e-01,
 -8.50659184e-02,-7.03574274e-01,-8.72554747e-02]

qacc:
[ 2.29932285e-01,-2.84366088e+00, 1.29911082e+01,-2.69689143e+01,
 -2.33581794e-01, 2.79833892e+00,-1.16970743e+01, 2.28401991e+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,
  2.33007618e+00, 9.60195021e-01, 3.17427951e+00,-2.70080713e+00,
  1.12437712e+02, 9.35171485e+01]

qfrc_actuator:
[ 2.39096786e-03, 2.73596227e-02, 8.75619143e-03, 1.64057528e-03,
 -2.16746863e-05, 2.73102529e-02, 8.58399794e-03, 1.60115977e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018392278300366632
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01817699e-14, -9.05453098e-14,  1.00000000e+00,  2.73281771e-27,
        1.00000000e+00,  9.05453098e-14, -1.00000000e+00,  0.00000000e+00,
        3.01817699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076473, -0.04699386,  0.0618243 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18606368e-05,-2.75036548e-05, 1.01064588e-05,-4.10600927e-05,
 -4.21416872e-05, 6.08048518e-05,-8.78056738e-07, 3.51823174e-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,
  2.73390712e-05, 6.30474650e-05,-4.90496864e+00,-7.19098055e-05,
  3.07959294e-02, 7.19100853e-03]


--- Step 2414 ---
qpos:
[-2.51692230e-03, 8.65820917e-01,-2.37695581e-02, 3.72021807e-04,
 -2.96774534e-03, 8.61846836e-01,-2.70867901e-02, 3.09558077e-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,
  7.17294682e-03,-4.27916838e-02, 7.93440006e-02, 7.00390724e-01,
 -8.51441735e-02,-7.03270034e-01,-8.72614678e-02]

qacc:
[ 1.92107575e-01,-3.29064128e-01, 3.12019070e+00,-1.09676836e+01,
  2.31077371e-02,-6.75309183e-01, 1.06727644e+00, 4.79845787e+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,
  2.17937992e+00, 9.09747045e-01, 2.32243639e+00,-2.67522042e+00,
  1.05232361e+02, 8.70868916e+01]

qfrc_actuator:
[ 2.40605871e-03, 2.73589848e-02, 8.74294468e-03, 1.61645009e-03,
  2.44361357e-06, 2.73217210e-02, 8.61836816e-03, 1.62232247e-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: -0.0018262624701191887
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03960423e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.03960423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077463, -0.04699471,  0.0618255 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50453435e-05,-1.57115910e-05,-1.91220332e-05,-2.57570739e-05,
  4.12102696e-06, 4.68337977e-05, 4.80627305e-05, 2.44282867e-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,
  1.15080884e-04,-7.13423611e-05,-4.90498486e+00,-8.40086870e-05,
  3.07994194e-02, 7.18836411e-03]


--- Step 2415 ---
qpos:
[-2.51644102e-03, 8.65821968e-01,-2.37687939e-02, 3.71623895e-04,
 -2.96756342e-03, 8.61845873e-01,-2.70873287e-02, 3.09509347e-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,
  7.19621336e-03,-4.27877510e-02, 7.93704007e-02, 7.00839310e-01,
 -8.53237911e-02,-7.02812137e-01,-8.71734669e-02]

qacc:
[ 2.36773609e-01, 2.73232440e+00,-8.94475382e+00, 1.02320090e+01,
  9.10384224e-02,-1.54320970e+00, 5.94726050e+00,-8.04900668e+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,
  2.05614075e+00, 8.67911088e-01, 1.60317337e+00,-2.62626990e+00,
  9.92641989e+01, 8.17856129e+01]

qfrc_actuator:
[ 2.43263442e-03, 2.74116523e-02, 8.71679616e-03, 1.62018443e-03,
  1.68848120e-05, 2.73111512e-02, 8.63904303e-03, 1.61719187e-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: -0.0017983273085083323
  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([-0.00079521, -0.04699902,  0.06182806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32824905e-05, 3.88086982e-05,-3.26568877e-05, 1.89508487e-06,
  1.64021899e-05, 2.66259281e-05, 3.71320459e-05,-9.81460469e-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,
  5.99507750e-04,-4.53693349e-06,-4.90502151e+00,-7.20533102e-05,
  3.08029813e-02, 7.18499471e-03]


--- Step 2416 ---
qpos:
[-2.51576759e-03, 8.65823266e-01,-2.37683868e-02, 3.72312113e-04,
 -2.96739721e-03, 8.61845590e-01,-2.70878369e-02, 3.09450721e-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,
  7.20656098e-03,-4.27771654e-02, 7.93818949e-02, 7.01012987e-01,
 -8.55957363e-02,-7.02630692e-01,-8.69728306e-02]

qacc:
[ 1.00491102e-01, 3.55911429e+00,-1.68014430e+01, 3.59902899e+01,
 -8.50137246e-03, 6.08854067e-01,-4.49651835e-01,-1.81157269e+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,
 -3.22972874e+00, 1.66317396e+00,-3.72647783e+00, 7.54887642e+00,
 -2.02308365e+02, 4.81377543e+01]

qfrc_actuator:
[ 2.43036303e-03, 2.74247947e-02, 8.70124194e-03, 1.67582617e-03,
  7.62076889e-06, 2.73761557e-02, 8.65133833e-03, 1.61434908e-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: -0.00176011716337348
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.94229092e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.94229092e-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([ 0.04947978, -0.0587573 ,  0.06183155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83689630e-05, 2.81540016e-05,-1.15113254e-05, 5.62079681e-05,
 -1.47530625e-06, 8.75498881e-05, 2.23477634e-05,-4.33287293e-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,
  1.41214365e-03, 2.27073987e-04,-4.90507693e+00,-3.94131294e-05,
  3.08065665e-02, 7.18093871e-03]


--- Step 2417 ---
qpos:
[-2.51520663e-03, 8.65825000e-01,-2.37690594e-02, 3.72997029e-04,
 -2.96692443e-03, 8.61845927e-01,-2.70879192e-02, 3.09387086e-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,
  7.20490998e-03,-4.27604623e-02, 7.93766949e-02, 7.00932344e-01,
 -8.59545377e-02,-7.02705026e-01,-8.66678303e-02]

qacc:
[-5.98000467e-02, 3.58331927e+00,-1.19294709e+01, 1.32827572e+01,
  1.61505618e-01,-4.72826189e-01, 3.08692667e+00,-5.09145906e+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,
 -2.99965598e+00, 1.52939382e+00,-4.17355074e+00, 6.45960737e+00,
 -1.87242671e+02, 4.50878916e+01]

qfrc_actuator:
[ 2.41086290e-03, 2.74320124e-02, 8.63870289e-03, 1.67277899e-03,
  3.75105481e-05, 2.74148637e-02, 8.67665305e-03, 1.61293730e-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([ 8.63636364, -5.81136787,  6.38864464, -5.81136787, 41.61891798,
       30.00225675,  6.38864464, 30.00225675, 35.92762193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017645640638186064
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.57294236e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.57294236e-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([ 0.04947193, -0.05875874,  0.06183122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07417897e-05, 2.29569436e-05,-5.62123174e-05,-1.14941762e-06,
  2.91999707e-05, 9.22721121e-05, 4.61416811e-05, 3.10586411e-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,
  2.77027735e-04, 2.75045412e-04,-4.90507075e+00,-3.71575033e-05,
  3.08071055e-02, 7.18665183e-03]


--- Step 2418 ---
qpos:
[-2.51482343e-03, 8.65827323e-01,-2.37708877e-02, 3.73626282e-04,
 -2.96593509e-03, 8.61846968e-01,-2.70882885e-02, 3.09360674e-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,
  7.19204853e-03,-4.27380935e-02, 7.93532585e-02, 7.00614388e-01,
 -8.63955022e-02,-7.03017479e-01,-8.62654100e-02]

qacc:
[-9.41420204e-02, 3.89020547e+00,-1.25081715e+01, 1.29638446e+01,
  2.71638952e-01, 2.49472689e+00,-9.12061900e+00, 1.55082221e+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,
 -2.80261065e+00, 1.41641963e+00,-4.55909106e+00, 5.55283402e+00,
 -1.74580513e+02, 4.24932208e+01]

qfrc_actuator:
[ 2.39900592e-03, 2.74708933e-02, 8.58434374e-03, 1.67067870e-03,
  7.28239944e-05, 2.74375815e-02, 8.65611402e-03, 1.63012745e-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([ 8.63636364, -6.08657291,  6.12702269, -6.08657291, 42.5873256 ,
       33.72682226,  6.12702269, 33.72682226, 42.14052594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017483443782851868
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.17506962e-14,  4.76260443e-14,  1.00000000e+00, -1.51216007e-27,
        1.00000000e+00, -4.76260443e-14, -1.00000000e+00,  0.00000000e+00,
        3.17506962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04949795, -0.05877418,  0.06183261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69785536e-05, 4.00197791e-05,-5.65926621e-05,-3.08734873e-06,
  4.91849851e-05, 8.39737918e-05, 4.30873180e-06, 2.28005516e-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,
  1.68561470e-05,-9.07658697e-05,-4.90508747e+00,-3.86294874e-05,
  3.08077130e-02, 7.19009660e-03]


--- Step 2419 ---
qpos:
[-2.51478539e-03, 8.65828816e-01,-2.37722395e-02, 3.74295298e-04,
 -2.96448510e-03, 8.61847786e-01,-2.70887625e-02, 3.09400382e-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,
  7.18850100e-03,-4.27119075e-02, 7.93462100e-02, 7.00472127e-01,
 -8.69430407e-02,-7.03152909e-01,-8.57653413e-02]

qacc:
[-1.80369881e-01,-2.34390061e+00, 6.60024887e+00,-6.06672890e+00,
  2.42665474e-01, 1.35994615e+00,-8.06562584e+00, 1.98412540e+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,
  2.32847733e+00, 9.54303259e-01, 4.09696881e+00,-3.05513937e+00,
  1.14955985e+02, 8.68938785e+01]

qfrc_actuator:
[ 2.37409248e-03, 2.73686706e-02, 8.58865815e-03, 1.66920022e-03,
  9.33063985e-05, 2.73616112e-02, 8.62635795e-03, 1.65807649e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017652969963160416
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.72974221e-07, -9.66021296e-14,  1.00000000e+00,  5.53505300e-20,
        1.00000000e+00,  9.66021296e-14, -1.00000000e+00,  0.00000000e+00,
        5.72974221e-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([ 0.00016994, -0.0462489 ,  0.06183097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30071337e-05,-9.17094152e-05, 5.49570554e-06,-1.78444342e-06,
  4.38397452e-05,-2.71630079e-05,-1.10988376e-05, 3.21379011e-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,
  4.57159161e-04,-7.89841486e-04,-4.90512289e+00,-4.17207367e-05,
  3.08085651e-02, 7.19193106e-03]


--- Step 2420 ---
qpos:
[-2.51488055e-03, 8.65829292e-01,-2.37727385e-02, 3.73904595e-04,
 -2.96269604e-03, 8.61847355e-01,-2.70884994e-02, 3.09515444e-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,
  7.18794970e-03,-4.27011856e-02, 7.93453617e-02, 7.00426241e-01,
 -8.71761702e-02,-7.03194366e-01,-8.55633114e-02]

qacc:
[-6.90034345e-02,-5.90549556e+00, 2.35811789e+01,-4.25420251e+01,
  1.79522393e-01,-2.15754010e+00, 2.11715618e+00, 1.06615371e+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,
  7.49060129e-01,-3.86602294e+00, 1.55005986e+00, 5.49366115e+00,
  9.32352404e+01,-2.06704758e+02]

qfrc_actuator:
[ 0.00237709, 0.02730724, 0.00862701, 0.00161476, 0.00010474, 0.02724482,
  0.00864426, 0.00169204,-0.0023843 , 0.02751572, 0.00863685, 0.0016496 ,
  0.        ,-0.00134275, 0.        ,-0.00066521, 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: -0.0018025161338129925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07964795e-14, -9.23894386e-14,  1.00000000e+00,  2.84526946e-27,
        1.00000000e+00,  9.23894386e-14, -1.00000000e+00,  0.00000000e+00,
        3.07964795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672486, -0.02198903,  0.06182767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27555417e-05,-1.11686820e-04, 2.00214892e-05,-5.82102763e-05,
  3.22394974e-05,-1.32902823e-04, 1.20351370e-05, 3.30425247e-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,
  4.62283796e-05,-2.84403601e-04,-4.90515324e+00, 2.34897876e-05,
  3.08136938e-02, 7.18829233e-03]


--- Step 2421 ---
qpos:
[-2.51520516e-03, 8.65829715e-01,-2.37737247e-02, 3.72833465e-04,
 -2.96068390e-03, 8.61846858e-01,-2.70889646e-02, 3.09596266e-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,
  7.19019926e-03,-4.27047634e-02, 7.93472843e-02, 7.00469420e-01,
 -8.71191955e-02,-7.03149512e-01,-8.56364490e-02]

qacc:
[-1.20623839e-01,-1.10717944e-01, 3.16428713e+00,-1.41213845e+01,
  1.17032459e-01, 1.24044140e+00,-3.10660446e+00,-1.60338235e+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,
  7.00213180e-01,-3.57494194e+00, 6.92705488e-01, 5.03986097e+00,
  8.59468504e+01,-1.90794665e+02]

qfrc_actuator:
[ 0.00236125, 0.02734181, 0.0086142 , 0.00158289, 0.00011068, 0.02728219,
  0.00861895, 0.00167601,-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: -0.0018176108758542198
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05407235e-14, -6.10814470e-14,  1.00000000e+00,  1.86547159e-27,
        1.00000000e+00,  6.10814470e-14, -1.00000000e+00,  0.00000000e+00,
        3.05407235e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00673108, -0.0220043 ,  0.06182635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19325354e-05,-2.62491812e-05,-3.54218397e-05,-3.70934079e-05,
  2.12275120e-05,-3.30389155e-05,-5.01324993e-05,-2.06732445e-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,
  4.67717818e-06,-2.88850182e-05,-4.90503420e+00, 7.89315717e-05,
  3.08043551e-02, 7.18496442e-03]


--- Step 2422 ---
qpos:
[-2.51610719e-03, 8.65829710e-01,-2.37753420e-02, 3.71792149e-04,
 -2.95872491e-03, 8.61846745e-01,-2.70905709e-02, 3.09619702e-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,
  7.19508276e-03,-4.27216694e-02, 7.93490543e-02, 7.00595255e-01,
 -8.67923563e-02,-7.03024377e-01,-8.59657020e-02]

qacc:
[-3.02990513e-01, 1.25893553e+00,-5.43553344e+00, 7.27667210e+00,
 -2.88824578e-02, 2.51213988e+00,-5.79986852e+00,-2.58597475e+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,
  6.58486833e-01,-3.33203895e+00,-3.81275232e-02, 4.63511656e+00,
  7.98885703e+01,-1.77541841e+02]

qfrc_actuator:
[ 2.31651233e-03, 2.72914028e-02, 8.57169556e-03, 1.58236150e-03,
  9.55533372e-05, 2.73226004e-02, 8.56888317e-03, 1.64851212e-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: -0.001811088598211101
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06507099e-14, -3.06507099e-14,  1.00000000e+00,  9.39466018e-28,
        1.00000000e+00,  3.06507099e-14, -1.00000000e+00,  0.00000000e+00,
        3.06507099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672984, -0.0219978 ,  0.06182693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.51999941e-05,-7.39906994e-05,-5.35659579e-05,-3.60211762e-06,
 -5.05350305e-06, 1.07142059e-05,-6.37780605e-05,-3.10461143e-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,
  8.77255017e-06,-1.66859091e-05,-4.90499782e+00, 7.74142805e-05,
  3.08004483e-02, 7.18432492e-03]


--- Step 2423 ---
qpos:
[-2.51737223e-03, 8.65828895e-01,-2.37761722e-02, 3.70358190e-04,
 -2.95726733e-03, 8.61846471e-01,-2.70920806e-02, 3.09608371e-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,
  7.20245718e-03,-4.27510909e-02, 7.93481784e-02, 7.00798102e-01,
 -8.62125117e-02,-7.02823649e-01,-8.65352019e-02]

qacc:
[-1.89567319e-01,-4.07526589e+00, 1.46376069e+01,-2.21006252e+01,
 -2.63977950e-01,-1.19628870e+00, 5.42714859e+00,-1.14828607e+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,
  6.22728576e-01,-3.12885374e+00,-6.61506759e-01, 4.27039461e+00,
  7.48511416e+01,-1.66501845e+02]

qfrc_actuator:
[ 2.30812833e-03, 2.72614183e-02, 8.61822974e-03, 1.56468800e-03,
  5.02202385e-05, 2.73111563e-02, 8.57567463e-03, 1.63226683e-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: -0.0017871748445667385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10608396e-14, -6.21216793e-14,  1.00000000e+00,  1.92955152e-27,
        1.00000000e+00,  6.21216793e-14, -1.00000000e+00,  0.00000000e+00,
        3.10608396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672267, -0.02197399,  0.06182902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47116450e-05,-8.25664684e-05, 2.45443240e-05,-2.27621221e-05,
 -4.77293010e-05,-1.99402939e-05, 8.48424183e-08,-1.85957866e-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,
  4.88745983e-05,-1.97467535e-04,-4.90502711e+00, 2.71012373e-05,
  3.08007749e-02, 7.18594103e-03]


--- Step 2424 ---
qpos:
[-2.51866992e-03, 8.65828298e-01,-2.37768878e-02, 3.68636570e-04,
 -2.95633653e-03, 8.61846170e-01,-2.70936061e-02, 3.09645756e-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,
  7.21804218e-03,-4.27772942e-02, 7.93604267e-02, 7.01160809e-01,
 -8.57234762e-02,-7.02461536e-01,-8.70218161e-02]

qacc:
[-1.71351195e-02,-6.24165105e-01, 3.85764624e+00,-9.17988100e+00,
 -2.77409867e-01, 1.00955010e+00,-5.70988653e+00, 1.41877746e+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,
  2.05264436e+00, 8.04514676e-01, 3.28107359e+00,-2.78426297e+00,
  1.05224363e+02, 7.48279855e+01]

qfrc_actuator:
[ 2.32157439e-03, 2.73330026e-02, 8.64600998e-03, 1.55489307e-03,
  2.27381954e-05, 2.73222478e-02, 8.58029534e-03, 1.65827884e-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: -0.0017694398304342607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.1372161e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.1372161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00075727, -0.04580433,  0.06183054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11289461e-06, 2.95351956e-05, 1.29801730e-05,-1.29200779e-05,
 -5.01406838e-05,-8.24994323e-07,-1.15746672e-07, 2.48023769e-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,
  1.17996998e-04,-5.34542969e-04,-4.90511028e+00,-6.58893084e-05,
  3.08043731e-02, 7.18946944e-03]


--- Step 2425 ---
qpos:
[-2.51989318e-03, 8.65828295e-01,-2.37780550e-02, 3.66800350e-04,
 -2.95582960e-03, 8.61845674e-01,-2.70947166e-02, 3.09713133e-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,
  7.21941773e-03,-4.27967313e-02, 7.93598099e-02, 7.01227542e-01,
 -8.53444125e-02,-7.02395742e-01,-8.73869982e-02]

qacc:
[ 3.85234586e-02, 1.80968392e+00,-4.83077844e+00, 3.13495545e+00,
 -2.22883785e-01,-7.98126534e-01, 1.20712740e+00, 3.46178357e+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,
 -3.55236055e+00, 1.69156541e+00,-3.21628167e+00, 4.30389110e+00,
 -2.17828755e+02, 5.56183458e+01]

qfrc_actuator:
[ 2.33018068e-03, 2.73760613e-02, 8.62739036e-03, 1.54987735e-03,
  6.19272048e-06, 2.73112872e-02, 8.60144006e-03, 1.67344421e-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: -0.001805962648719163
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53688536e-14, -2.30532805e-14,  1.00000000e+00,  3.54302493e-28,
        1.00000000e+00,  2.30532805e-14, -1.00000000e+00,  0.00000000e+00,
        1.53688536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04939665, -0.05873732,  0.0618274 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.12762053e-06, 6.17262463e-05,-1.13538249e-05,-3.54795263e-06,
 -4.03470611e-05,-1.03707733e-05, 2.18330858e-05, 1.56117714e-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,
  5.96865511e-04,-1.05033574e-03,-4.90509535e+00,-1.30050413e-04,
  3.08005297e-02, 7.19137494e-03]


--- Step 2426 ---
qpos:
[-2.52083629e-03, 8.65828008e-01,-2.37785419e-02, 3.65298326e-04,
 -2.95562764e-03, 8.61845067e-01,-2.70955478e-02, 3.09763488e-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,
  7.20773498e-03,-4.28099493e-02, 7.93442251e-02, 7.01022473e-01,
 -8.50660662e-02,-7.02602571e-01,-8.76406571e-02]

qacc:
[ 1.47425141e-01,-1.58691271e+00, 3.70366349e+00, 1.19927649e+00,
 -1.60413832e-01,-1.27641719e+00, 5.05807264e+00,-8.37108142e+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,
 -3.26457791e+00, 1.55478872e+00,-3.74199871e+00, 4.16729834e+00,
 -2.00201615e+02, 5.09639089e+01]

qfrc_actuator:
[ 2.35354174e-03, 2.73305306e-02, 8.65246170e-03, 1.56542380e-03,
 -3.68302132e-06, 2.73050262e-02, 8.61432219e-03, 1.66434134e-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: -0.001827821067390524
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55551850e-14, -3.79626542e-14,  1.00000000e+00,  1.72939573e-27,
        1.00000000e+00,  3.79626542e-14, -1.00000000e+00,  0.00000000e+00,
        4.55551850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935989, -0.05872055,  0.06182549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67685009e-05,-1.34959960e-05, 3.63108452e-05, 1.77332030e-05,
 -2.90297347e-05,-6.86755401e-06, 1.39829619e-05,-8.48553012e-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,
  4.44041488e-06,-6.36448150e-05,-4.90505218e+00,-1.01480838e-04,
  3.08007887e-02, 7.19103406e-03]


--- Step 2427 ---
qpos:
[-2.52168259e-03, 8.65827051e-01,-2.37785174e-02, 3.65092734e-04,
 -2.95544517e-03, 8.61844562e-01,-2.70962777e-02, 3.09766514e-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,
  7.18397558e-03,-4.28174126e-02, 7.93118582e-02, 7.00565585e-01,
 -8.48806230e-02,-7.03061777e-01,-8.77911056e-02]

qacc:
[ 5.13841435e-02, 3.54244684e-01,-8.02038593e+00, 3.01310853e+01,
 -1.02634447e-02,-1.12148634e+00, 6.19287430e+00,-1.46224296e+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,
 -3.01916005e+00, 1.43864846e+00,-4.19551461e+00, 4.04300032e+00,
 -1.85385982e+02, 4.70442202e+01]

qfrc_actuator:
[ 2.35001490e-03, 2.72679923e-02, 8.66729115e-03, 1.62840986e-03,
  8.24636837e-06, 2.73193316e-02, 8.62221627e-03, 1.64102769e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018246512192038877
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56343251e-14, -7.60572084e-14,  1.00000000e+00,  3.47081937e-27,
        1.00000000e+00,  7.60572084e-14, -1.00000000e+00,  0.00000000e+00,
        4.56343251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04936406, -0.05872204,  0.06182567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.23570547e-06,-6.18079214e-05, 1.71380589e-05, 6.40130238e-05,
 -1.85151885e-06, 1.30063386e-05, 7.91591413e-06,-2.32871763e-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,
  3.57881870e-04, 3.58419424e-04,-4.90504590e+00,-8.53648824e-05,
  3.08015515e-02, 7.19020029e-03]


--- Step 2428 ---
qpos:
[-2.52268787e-03, 8.65826276e-01,-2.37791505e-02, 3.65269970e-04,
 -2.95501084e-03, 8.61843953e-01,-2.70965452e-02, 3.09741709e-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,
  7.17075461e-03,-4.28198096e-02, 7.92993024e-02, 7.00307338e-01,
 -8.48228945e-02,-7.03321475e-01,-8.78271692e-02]

qacc:
[-8.38088853e-02, 2.86621050e+00,-1.14855161e+01, 1.90305872e+01,
  1.32961238e-01,-2.00057033e+00, 8.10990575e+00,-1.35919814e+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,
  2.63460613e+00, 1.26659350e+00, 4.95274809e+00,-4.85362904e+00,
  1.29251770e+02, 1.02149376e+02]

qfrc_actuator:
[ 2.33042660e-03, 2.73022653e-02, 8.64036682e-03, 1.64775324e-03,
  3.30953404e-05, 2.73103031e-02, 8.64493660e-03, 1.62731138e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018321308824847463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02986821e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.02986821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076722, -0.04699384,  0.06182482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51912605e-05, 6.01851800e-06,-3.53545724e-05, 1.85366268e-05,
  2.39719295e-05,-1.10082313e-06, 2.55855484e-05,-1.33365875e-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,
  1.45269023e-03, 3.36154366e-04,-4.90506694e+00,-7.74595157e-05,
  3.08027717e-02, 7.18883622e-03]


--- Step 2429 ---
qpos:
[-2.52351531e-03, 8.65826124e-01,-2.37806246e-02, 3.65288146e-04,
 -2.95430371e-03, 8.61843230e-01,-2.70965609e-02, 3.09805851e-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,
  7.16725244e-03,-4.28175768e-02, 7.93020410e-02, 7.00232369e-01,
 -8.48832515e-02,-7.03397552e-01,-8.77573151e-02]

qacc:
[ 9.24856829e-02, 2.84239722e+00,-8.27236478e+00, 6.41055631e+00,
  1.43925083e-01, 9.76542837e-01,-7.45559834e+00, 2.25316686e+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,
  2.42970119e+00, 1.15744136e+00, 3.82363226e+00,-4.39129076e+00,
  1.19069717e+02, 9.44494947e+01]

qfrc_actuator:
[ 2.35467638e-03, 2.73585341e-02, 8.60710744e-03, 1.64130605e-03,
  4.76798743e-05, 2.73051920e-02, 8.65839832e-03, 1.67260569e-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: -0.0018518111326973202
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99766808e-14, -2.99766808e-14,  1.00000000e+00,  8.98601392e-28,
        1.00000000e+00,  2.99766808e-14, -1.00000000e+00,  0.00000000e+00,
        2.99766808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075328, -0.04699175,  0.06182304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70092156e-05, 5.31498349e-05,-3.57188937e-05,-7.04996313e-06,
  2.59633822e-05,-9.93834323e-07, 1.59322046e-05, 4.58744759e-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,
  4.45571758e-04, 2.46123863e-05,-4.90501668e+00,-1.11303318e-04,
  3.08009145e-02, 7.19120902e-03]


--- Step 2430 ---
qpos:
[-2.52373175e-03, 8.65826202e-01,-2.37823989e-02, 3.65241492e-04,
 -2.95356655e-03, 8.61843096e-01,-2.70966874e-02, 3.09882635e-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,
  7.17279344e-03,-4.28110701e-02, 7.93162553e-02, 7.00327787e-01,
 -8.50536574e-02,-7.03303003e-01,-8.75885326e-02]

qacc:
[ 3.20080667e-01, 1.00851902e+00,-2.88157539e+00, 2.07173605e+00,
  1.55446731e-02, 1.34615926e+00,-4.20583811e+00, 6.13978732e+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,
  2.26079257e+00, 1.06847155e+00, 2.86888975e+00,-3.99224759e+00,
  1.10636578e+02, 8.80585744e+01]

qfrc_actuator:
[ 2.40495578e-03, 2.73564778e-02, 8.58824608e-03, 1.63752590e-03,
  3.82314309e-05, 2.73734935e-02, 8.66633061e-03, 1.68123940e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018498841849300118
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00079063e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00079063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075501, -0.04699372,  0.06182324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.83981576e-05, 2.00039410e-05,-1.25158090e-05,-2.87455539e-06,
  2.87496191e-06, 7.30209543e-05, 1.12824089e-05, 1.00353077e-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,
  2.95062515e-05,-3.25201815e-05,-4.90500010e+00,-1.14689788e-04,
  3.08002819e-02, 7.19198510e-03]


--- Step 2431 ---
qpos:
[-2.52297254e-03, 8.65826200e-01,-2.37837420e-02, 3.65829877e-04,
 -2.95250521e-03, 8.61844552e-01,-2.70977644e-02, 3.09927427e-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,
  7.18682269e-03,-4.28005787e-02, 7.93387190e-02, 7.00582760e-01,
 -8.53274041e-02,-7.03048433e-01,-8.73265777e-02]

qacc:
[ 5.11872822e-01,-3.24941998e-03,-2.82322185e+00, 1.31831442e+01,
  1.69548520e-01, 4.09448752e+00,-1.02023707e+01, 5.02146637e+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,
  2.12206073e+00, 9.96184674e-01, 2.06238931e+00,-3.64470098e+00,
  1.03653147e+02, 8.27583012e+01]

qfrc_actuator:
[ 2.47034866e-03, 2.73550745e-02, 8.61332428e-03, 1.67082063e-03,
  6.77547454e-05, 2.75029381e-02, 8.63570173e-03, 1.66828400e-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: -0.0018306111221994686
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.03238359e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.03238359e-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([-0.00076921, -0.04699893,  0.06182502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.32419941e-05, 7.09421936e-06, 2.75809408e-05, 3.36643115e-05,
  3.08966888e-05, 1.73039618e-04,-1.38098796e-05,-9.24230726e-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,
  8.34872114e-05, 1.13725614e-04,-4.90500940e+00,-9.26703657e-05,
  3.08005268e-02, 7.19145648e-03]


--- Step 2432 ---
qpos:
[-2.52153270e-03, 8.65826376e-01,-2.37846402e-02, 3.67813555e-04,
 -2.95092377e-03, 8.61847139e-01,-2.70990958e-02, 3.09922808e-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,
  7.20888636e-03,-4.27863365e-02, 7.93667101e-02, 7.00988175e-01,
 -8.56988970e-02,-7.02642457e-01,-8.69761699e-02]

qacc:
[ 3.57147610e-01, 1.86465743e+00,-1.21960533e+01, 3.55015336e+01,
  2.73329046e-01, 1.18685555e+00, 2.10751460e-02,-8.99499923e+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,
  2.00860692e+00, 9.37702346e-01, 1.38183248e+00,-3.33873515e+00,
  9.78785385e+01, 7.83728299e+01]

qfrc_actuator:
[ 0.00249094, 0.02738979, 0.0086464 , 0.00174344, 0.0001026 , 0.02754356,
  0.00861833, 0.00164277,-0.00235936, 0.02748969, 0.00877023, 0.00158999,
  0.        ,-0.00149136, 0.        ,-0.00086082, 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: -0.0017975668594929772
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08812721e-14, -6.17625441e-14,  1.00000000e+00,  1.90730593e-27,
        1.00000000e+00,  6.17625441e-14, -1.00000000e+00,  0.00000000e+00,
        3.08812721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079328, -0.04700672,  0.06182805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50544655e-05, 4.58374196e-05, 3.91144454e-05, 7.45318068e-05,
  4.95352955e-05, 1.34113234e-04, 1.63353362e-05,-1.87600417e-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,
  5.19673726e-04, 4.26315952e-04,-4.90504037e+00,-4.89632246e-05,
  3.08013656e-02, 7.18983689e-03]


--- Step 2433 ---
qpos:
[-2.52057826e-03, 8.65827226e-01,-2.37852728e-02, 3.69563513e-04,
 -2.94944497e-03, 8.61849831e-01,-2.71000681e-02, 3.09724057e-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,
  7.21850711e-03,-4.27659373e-02, 7.93787224e-02, 7.01131432e-01,
 -8.61634045e-02,-7.02499254e-01,-8.65180980e-02]

qacc:
[-2.54579033e-01,-3.31873304e-01, 3.46298492e+00,-8.42879406e+00,
 -5.39742998e-02,-4.85755747e+00, 2.57188932e+01,-5.99746970e+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,
 -3.11073042e+00, 1.53925616e+00,-3.99470152e+00, 5.41774799e+00,
 -1.92860417e+02, 4.77532135e+01]

qfrc_actuator:
[ 2.41355163e-03, 2.74459422e-02, 8.66634163e-03, 1.73212146e-03,
  6.93083385e-05, 2.74774613e-02, 8.60858503e-03, 1.53901484e-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: -0.0017756481490092055
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12624724e-14,  3.12624724e-14,  1.00000000e+00, -9.77342180e-28,
        1.00000000e+00, -3.12624724e-14, -1.00000000e+00,  0.00000000e+00,
        3.12624724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04945107, -0.05876743,  0.06183013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63679290e-05, 9.30625674e-05, 3.68054320e-05,-6.55247245e-06,
 -9.76391733e-06, 1.14161833e-05, 1.93101967e-05,-9.78133046e-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,
  1.27439651e-03, 8.78463285e-04,-4.90509122e+00, 1.36972800e-05,
  3.08025573e-02, 7.18728244e-03]


--- Step 2434 ---
qpos:
[-2.52052782e-03, 8.65828604e-01,-2.37855756e-02, 3.70833289e-04,
 -2.94823025e-03, 8.61852443e-01,-2.71010042e-02, 3.09407350e-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,
  7.21653768e-03,-4.27398256e-02, 7.93731189e-02, 7.01030943e-01,
 -8.67151963e-02,-7.02600173e-01,-8.59598092e-02]

qacc:
[-4.73977208e-01,-1.21243396e+00, 7.36220006e+00,-1.65893837e+01,
 -1.39102771e-01,-2.63158228e+00, 1.42126580e+01,-3.46299893e+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,
 -2.89754542e+00, 1.42809262e+00,-4.40394985e+00, 4.66181797e+00,
 -1.79290176e+02, 4.47297023e+01]

qfrc_actuator:
[ 2.34927382e-03, 2.74611381e-02, 8.67839886e-03, 1.70701856e-03,
  4.88020063e-05, 2.74544135e-02, 8.60291417e-03, 1.47872100e-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: -0.0017674574285500566
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14073484e-14,  7.85183710e-15,  1.00000000e+00, -2.46605383e-28,
        1.00000000e+00, -7.85183710e-15, -1.00000000e+00,  0.00000000e+00,
        3.14073484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04946606, -0.05877613,  0.06183092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.63775447e-05, 7.45299197e-05, 3.55808718e-05,-1.99725055e-05,
 -2.51384957e-05,-1.69211746e-05,-4.32989392e-06,-6.10398453e-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,
  2.45684023e-04, 5.43857196e-04,-4.90506629e+00, 9.85010656e-06,
  3.08006615e-02, 7.18718019e-03]


--- Step 2435 ---
qpos:
[-2.52074926e-03, 8.65830595e-01,-2.37860403e-02, 3.72161229e-04,
 -2.94708711e-03, 8.61855028e-01,-2.71018705e-02, 3.09227168e-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,
  7.20094688e-03,-4.27172144e-02, 7.93480777e-02, 7.00669233e-01,
 -8.71420276e-02,-7.02958795e-01,-8.55442819e-02]

qacc:
[-1.42864622e-01, 1.38164816e+00,-3.99697625e+00, 4.81307774e+00,
 -3.75613789e-02, 2.57674040e+00,-1.50057603e+01, 3.85457606e+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,
 -3.40534103e+00,-8.75090427e-01,-4.85942702e+00,-6.60140086e+00,
 -1.70534749e+02,-1.16339313e+02]

qfrc_actuator:
[ 2.36448726e-03, 2.74871406e-02, 8.66780373e-03, 1.70948965e-03,
  5.39234063e-05, 2.74750923e-02, 8.61761700e-03, 1.55103505e-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: -0.001758086873006534
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.15747487e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.15747487e-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([ 0.05534944, -0.03486264,  0.0618317 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59668605e-05, 7.41283643e-05, 8.48073879e-06, 6.50413108e-06,
 -6.81255451e-06, 7.65442760e-06, 8.55382372e-06, 7.02537950e-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,
  8.18306438e-06,-1.48765241e-04,-4.90506639e+00, 4.61174980e-06,
  3.07993045e-02, 7.18594177e-03]


--- Step 2436 ---
qpos:
[-2.52100208e-03, 8.65832668e-01,-2.37866422e-02, 3.73230510e-04,
 -2.94594980e-03, 8.61856852e-01,-2.71022863e-02, 3.09279919e-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,
  7.18872645e-03,-4.27107944e-02, 7.93313303e-02, 7.00407087e-01,
 -8.72411226e-02,-7.03220214e-01,-8.54413796e-02]

qacc:
[-1.65785203e-02,-4.09334413e-02, 1.39483019e+00,-5.71194835e+00,
 -2.38718256e-03, 2.52922792e+00,-2.03111651e+01, 6.04661171e+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,
  8.42590307e-01,-4.04781748e+00, 2.07344726e+00, 5.11656914e+00,
  9.66872953e+01,-2.16222208e+02]

qfrc_actuator:
[ 2.37386703e-03, 2.74483201e-02, 8.64397710e-03, 1.69265360e-03,
  5.65819303e-05, 2.73977194e-02, 8.62674337e-03, 1.66533558e-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: -0.0018117924876583924
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.0638802e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.0638802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672892, -0.02201292,  0.06182684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99684047e-06, 4.61254811e-06,-7.26032324e-06,-1.32443960e-05,
 -5.75522251e-07,-6.83697796e-05, 1.41819697e-05, 1.16292244e-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,
  6.19057116e-04,-9.32721836e-04,-4.90508963e+00, 1.65281160e-05,
  3.08039657e-02, 7.18732317e-03]


--- Step 2437 ---
qpos:
[-2.52139541e-03, 8.65834459e-01,-2.37873055e-02, 3.73787494e-04,
 -2.94498978e-03, 8.61858113e-01,-2.71030927e-02, 3.09438111e-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,
  7.17960686e-03,-4.27192713e-02, 7.93191088e-02, 7.00236533e-01,
 -8.70389060e-02,-7.03392668e-01,-8.56258245e-02]

qacc:
[-7.36362880e-02,-1.25498867e+00, 6.09740633e+00,-1.46590541e+01,
 -9.33553019e-02, 2.51688019e+00,-1.45050473e+01, 3.37949299e+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,
  7.75211463e-01,-3.72423135e+00, 1.13146480e+00, 4.68089793e+00,
  8.87671746e+01,-1.98780575e+02]

qfrc_actuator:
[ 2.36186221e-03, 2.74063969e-02, 8.63000422e-03, 1.66452682e-03,
  3.99729943e-05, 2.73510228e-02, 8.59660988e-03, 1.71455467e-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: -0.0018378032767894445
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.0615495e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.0615495e-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([ 0.00673782, -0.02204004,  0.06182447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34369436e-05,-4.14567754e-05,-1.43860699e-05,-2.84420546e-05,
 -1.68924442e-05,-7.70580130e-05,-3.84930782e-05, 4.90418621e-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,
  3.98175223e-04,-2.12841329e-04,-4.90501639e+00, 8.49774890e-05,
  3.08011400e-02, 7.18431859e-03]


--- Step 2438 ---
qpos:
[-2.52174271e-03, 8.65835257e-01,-2.37866966e-02, 3.74348039e-04,
 -2.94459462e-03, 8.61859057e-01,-2.71042492e-02, 3.09478057e-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,
  7.17336078e-03,-4.27415634e-02, 7.93081975e-02, 7.00150561e-01,
 -8.65573954e-02,-7.03482646e-01,-8.60765650e-02]

qacc:
[ 2.52789450e-02,-4.85596914e+00, 1.53983519e+01,-1.66465552e+01,
 -2.97671864e-01,-1.87472253e+00, 1.10676214e+01,-3.07408176e+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,
  7.18376636e-01,-3.45379530e+00, 3.27568172e-01, 4.28069623e+00,
  8.21699868e+01,-1.84251172e+02]

qfrc_actuator:
[ 2.37265359e-03, 2.73451902e-02, 8.69293313e-03, 1.66548797e-03,
 -5.77527206e-06, 2.73405903e-02, 8.57908675e-03, 1.65405755e-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: -0.0018396714580599383
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01744917e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.01744917e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00673863, -0.02204275,  0.06182423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37657682e-06,-8.86170501e-05, 5.16007608e-05,-1.86858663e-06,
 -5.37765785e-05,-5.93987673e-05,-3.64887037e-05,-6.41786825e-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,
  2.39805015e-04, 2.10218087e-04,-4.90502576e+00, 9.13665467e-05,
  3.08032831e-02, 7.18407436e-03]


--- Step 2439 ---
qpos:
[-2.52181331e-03, 8.65834716e-01,-2.37848344e-02, 3.75652412e-04,
 -2.94456768e-03, 8.61859969e-01,-2.71054996e-02, 3.09405172e-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,
  7.16979602e-03,-4.27767643e-02, 7.92958507e-02, 7.00142980e-01,
 -8.58149483e-02,-7.03495215e-01,-8.67760654e-02]

qacc:
[ 1.46370767e-01,-3.73691970e+00, 7.61921490e+00, 4.22969710e+00,
 -1.94034956e-01,-2.10042317e+00, 1.21930776e+01,-3.15498194e+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,
  6.70330474e-01,-3.22717644e+00,-3.58880254e-01, 3.90932730e+00,
  7.66686849e+01,-1.72142925e+02]

qfrc_actuator:
[ 2.39699236e-03, 2.72554847e-02, 8.74743621e-03, 1.70134357e-03,
 -1.52907391e-05, 2.73696494e-02, 8.58699817e-03, 1.60055634e-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: -0.00182203188790106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04666189e-14, -3.04666189e-14,  1.00000000e+00,  9.28214870e-28,
        1.00000000e+00,  3.04666189e-14, -1.00000000e+00,  0.00000000e+00,
        3.04666189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.006733  , -0.02202598,  0.0618257 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64119789e-05,-1.28704711e-04, 4.24818016e-05, 3.38060586e-05,
 -3.50484447e-05,-1.44611099e-05,-1.10713259e-05,-5.85574240e-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,
  1.31014752e-04, 3.99112261e-04,-4.90509890e+00, 4.51190244e-05,
  3.08092018e-02, 7.18613166e-03]


--- Step 2440 ---
qpos:
[-2.52160088e-03, 8.65834055e-01,-2.37838318e-02, 3.76675784e-04,
 -2.94458681e-03, 8.61860847e-01,-2.71064763e-02, 3.09335151e-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,
  7.17580061e-03,-4.28074460e-02, 7.92994580e-02, 7.00321626e-01,
 -8.51945988e-02,-7.03319915e-01,-8.73647349e-02]

qacc:
[ 1.47887504e-01, 1.66243753e+00,-4.97377633e+00, 1.57621659e+00,
 -2.40752798e-02,-7.49566806e-01, 2.48753347e+00,-2.40573069e+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,
  2.39233660e+00, 1.12977371e+00, 3.98852263e+00,-3.91902560e+00,
  1.21219205e+02, 9.78873245e+01]

qfrc_actuator:
[ 2.41145784e-03, 2.72736918e-02, 8.70763077e-03, 1.68638361e-03,
 -3.03723781e-06, 2.73867389e-02, 8.61005414e-03, 1.60492940e-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: -0.001842950384124159
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01208061e-14,  3.01208061e-14,  1.00000000e+00, -9.07262962e-28,
        1.00000000e+00, -3.01208061e-14, -1.00000000e+00,  0.00000000e+00,
        3.01208061e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075771, -0.04700215,  0.06182379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70421758e-05,-4.35405751e-05,-5.99957834e-05,-1.83492622e-05,
 -4.38436767e-06, 4.19312335e-06, 1.66827396e-05, 2.23268628e-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,
  6.21598093e-05, 4.00085907e-04,-4.90522273e+00,-4.66972234e-05,
  3.08179286e-02, 7.19012341e-03]


--- Step 2441 ---
qpos:
[-2.52116548e-03, 8.65833680e-01,-2.37830118e-02, 3.77066448e-04,
 -2.94455004e-03, 8.61861180e-01,-2.71069161e-02, 3.09241100e-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,
  7.19073938e-03,-4.28339612e-02, 7.93150982e-02, 7.00673194e-01,
 -8.46871814e-02,-7.02970372e-01,-8.78510766e-02]

qacc:
[ 1.16647869e-01,-4.13787043e-01, 4.69530929e+00,-1.55635996e+01,
  2.99535423e-02,-2.71288498e+00, 9.64393990e+00,-1.42642406e+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,
  2.23354617e+00, 1.04163691e+00, 3.00824088e+00,-3.80516295e+00,
  1.12530987e+02, 9.05207957e+01]

qfrc_actuator:
[ 2.41988233e-03, 2.73382107e-02, 8.71936743e-03, 1.65941426e-03,
  4.35015437e-06, 2.73256512e-02, 8.62411420e-03, 1.59006350e-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: -0.0018447579364865851
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00912928e-14, -3.00912928e-14,  1.00000000e+00,  9.05485903e-28,
        1.00000000e+00,  3.00912928e-14, -1.00000000e+00,  0.00000000e+00,
        3.00912928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007554 , -0.04700218,  0.06182364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13150894e-05, 2.70039399e-05,-5.28722199e-06,-3.12706467e-05,
  5.30644760e-06,-5.52147593e-05, 1.70607303e-05,-1.40641061e-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,
  7.75482738e-05,-4.45960992e-04,-4.90515852e+00,-1.41617892e-04,
  3.08110536e-02, 7.19397306e-03]


--- Step 2442 ---
qpos:
[-2.52075990e-03, 8.65833551e-01,-2.37816082e-02, 3.77771608e-04,
 -2.94444080e-03, 8.61861429e-01,-2.71073287e-02, 3.09127622e-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,
  7.21409001e-03,-4.28566017e-02, 7.93394588e-02, 7.01186523e-01,
 -8.42850579e-02,-7.02457703e-01,-8.82420843e-02]

qacc:
[-1.53305244e-02,-6.58699276e-01, 1.49182404e+00, 2.83616424e+00,
  3.82068371e-02,-5.85134339e-01, 2.74704962e+00,-6.09181251e+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,
  2.10296378e+00, 9.68668890e-01, 2.18008379e+00,-3.69576036e+00,
  1.05343701e+02, 8.44210685e+01]

qfrc_actuator:
[ 2.40687646e-03, 2.73768999e-02, 8.76169626e-03, 1.67896128e-03,
  8.73435300e-06, 2.73424504e-02, 8.63240395e-03, 1.58166435e-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: -0.0018284737870128756
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10778458e-14, -3.03592819e-14,  1.00000000e+00,  2.76505800e-27,
        1.00000000e+00,  3.03592819e-14, -1.00000000e+00,  0.00000000e+00,
        9.10778458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007664 , -0.04700584,  0.06182515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83836796e-06, 5.13613801e-05, 4.61676533e-05, 1.99104448e-05,
  6.89629418e-06,-1.11569576e-05,-1.49600522e-06,-1.04461670e-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,
  5.49691499e-04,-1.02003965e-03,-4.90512634e+00,-2.07924356e-04,
  3.08051339e-02, 7.19645305e-03]


--- Step 2443 ---
qpos:
[-2.52063736e-03, 8.65833447e-01,-2.37801601e-02, 3.79115894e-04,
 -2.94427051e-03, 8.61861842e-01,-2.71077960e-02, 3.09036823e-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,
  7.22294876e-03,-4.28724017e-02, 7.93516197e-02, 7.01397532e-01,
 -8.39949509e-02,-7.02248100e-01,-8.85096424e-02]

qacc:
[-1.48348179e-01, 1.22578598e+00,-7.01850450e+00, 1.79897774e+01,
  3.20753702e-02, 8.34326281e-01,-3.61998221e+00, 7.51330366e+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,
 -3.62296946e+00, 1.71011681e+00,-3.04992531e+00, 4.71792808e+00,
 -2.22581126e+02, 5.65133672e+01]

qfrc_actuator:
[ 2.38117596e-03, 2.73467604e-02, 8.75067664e-03, 1.70797135e-03,
  1.12776898e-05, 2.73702326e-02, 8.63752662e-03, 1.59494796e-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: -0.0018729563059203605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.22286891e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.22286891e-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([ 0.04928786, -0.05868607,  0.06182141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70493280e-05, 8.95854748e-06, 5.95386738e-06, 3.31926843e-05,
  5.81573609e-06, 2.07869651e-05, 2.27551866e-06, 1.25524301e-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,
  1.39043510e-03,-1.37464862e-03,-4.90512108e+00,-2.50165075e-04,
  3.07999837e-02, 7.19772210e-03]


--- Step 2444 ---
qpos:
[-2.52080987e-03, 8.65833392e-01,-2.37788282e-02, 3.81151890e-04,
 -2.94442944e-03, 8.61862797e-01,-2.71083785e-02, 3.08923562e-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,
  7.21851104e-03,-4.28819191e-02, 7.93493803e-02, 7.01331712e-01,
 -8.38072020e-02,-7.02316784e-01,-8.86640767e-02]

qacc:
[-1.54752936e-01, 1.81265818e+00,-9.28951476e+00, 2.14114928e+01,
 -1.73667329e-01, 5.75150718e-01,-6.36841065e-02,-4.03740053e+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,
 -3.32411599e+00, 1.57066522e+00,-3.60005642e+00, 4.51305268e+00,
 -2.04077281e+02, 5.16743868e+01]

qfrc_actuator:
[ 2.36587646e-03, 2.73464551e-02, 8.74345899e-03, 1.74220884e-03,
 -2.28063218e-05, 2.74221443e-02, 8.64081993e-03, 1.58539263e-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: -0.0018981579088739875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84894976e-14, -5.84894976e-14,  1.00000000e+00,  3.42102133e-27,
        1.00000000e+00,  5.84894976e-14, -1.00000000e+00,  0.00000000e+00,
        5.84894976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04924735, -0.05866724,  0.0618193 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81976479e-05, 7.34119415e-06,-3.49740874e-06, 3.54697403e-05,
 -3.13209985e-05, 6.45388169e-05, 8.30292130e-06,-8.34038425e-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,
  2.03694422e-04,-3.48946650e-04,-4.90505276e+00,-2.22659208e-04,
  3.07992274e-02, 7.19647524e-03]


--- Step 2445 ---
qpos:
[-2.52140249e-03, 8.65833998e-01,-2.37778668e-02, 3.83520724e-04,
 -2.94495681e-03, 8.61864383e-01,-2.71087030e-02, 3.08761370e-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,
  7.20179196e-03,-4.28856266e-02, 7.93308443e-02, 7.01010139e-01,
 -8.37136800e-02,-7.02642599e-01,-8.87140479e-02]

qacc:
[-2.20709515e-01, 2.59176959e+00,-9.38038073e+00, 1.52494509e+01,
 -1.94131103e-01,-8.93138200e-01, 6.46143880e+00,-1.58082455e+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,
 -3.07034248e+00, 1.45248135e+00,-4.07416627e+00, 4.32317712e+00,
 -1.88531293e+02, 4.76074826e+01]

qfrc_actuator:
[ 2.33919017e-03, 2.74172750e-02, 8.73866539e-03, 1.76152191e-03,
 -4.29956218e-05, 2.74703369e-02, 8.66085068e-03, 1.56249460e-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: -0.0018970287041321782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92621567e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.92621567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0492498 , -0.05866756,  0.06181939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01322101e-05, 7.57067612e-05,-2.49330138e-06, 2.01923627e-05,
 -3.50490712e-05, 8.56182488e-05, 3.40931752e-05,-2.00066563e-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,
  5.05995085e-05, 8.84351227e-05,-4.90502551e+00,-2.07576559e-04,
  3.07989768e-02, 7.19467001e-03]


--- Step 2446 ---
qpos:
[-2.52254349e-03, 8.65834908e-01,-2.37776527e-02, 3.85483840e-04,
 -2.94522198e-03, 8.61865518e-01,-2.71080516e-02, 3.08651039e-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,
  7.18162511e-03,-4.28750160e-02, 7.93111156e-02, 7.00599941e-01,
 -8.38941837e-02,-7.03060606e-01,-8.84718753e-02]

qacc:
[-2.88117643e-01, 1.65310616e+00,-3.59988262e+00,-2.44815626e+00,
  1.38900383e-01,-2.25166955e+00, 4.97744249e+00, 2.76549022e+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,
 -8.61940777e-01, 3.57950513e+00,-2.98180324e-01, 6.96869087e+00,
 -8.78326352e+01, 1.90878985e+02]

qfrc_actuator:
[ 2.30591488e-03, 2.73881178e-02, 8.68236901e-03, 1.73645725e-03,
 -1.41929320e-06, 2.73917235e-02, 8.69059673e-03, 1.58520341e-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: -0.0018778512449483462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9560995e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.9560995e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.06494584,  0.06182095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.24044613e-05, 1.34974453e-05,-4.02838051e-05,-2.15201327e-05,
  2.49493446e-05,-2.45908801e-05, 5.09295003e-05, 2.71681767e-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,
  7.04461794e-04, 6.57501869e-05,-4.90503055e+00,-2.00525076e-04,
  3.07992236e-02, 7.19230907e-03]


--- Step 2447 ---
qpos:
[-2.52396065e-03, 8.65834947e-01,-2.37767676e-02, 3.87531315e-04,
 -2.94528759e-03, 8.61866095e-01,-2.71068956e-02, 3.08642650e-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,
  7.15827181e-03,-4.28511116e-02, 7.92874996e-02, 7.00106547e-01,
 -8.43297523e-02,-7.03564331e-01,-8.79576488e-02]

qacc:
[-1.44060999e-01,-2.84959969e+00, 8.13628436e+00,-7.11217779e+00,
  1.05675867e-01,-4.86720305e-02,-5.19984738e+00, 2.24459606e+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,
 -7.96613125e-01, 3.32345614e+00,-9.71817941e-01, 6.58796435e+00,
 -8.19685616e+01, 1.77687569e+02]

qfrc_actuator:
[ 2.30448776e-03, 2.72990666e-02, 8.70221179e-03, 1.73862927e-03,
  5.72261629e-06, 2.73443716e-02, 8.70759829e-03, 1.63446411e-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: -0.001863462654518859
  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([ 0.02137456, -0.06496072,  0.06182209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64145476e-05,-9.07756223e-05, 1.69122641e-05, 9.33325898e-07,
  1.89809998e-05,-4.94480861e-05, 1.91255145e-05, 5.04974785e-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,
  9.70867738e-04,-6.55863643e-04,-4.90500066e+00,-2.22787920e-04,
  3.07942875e-02, 7.18932331e-03]


--- Step 2448 ---
qpos:
[-2.52495365e-03, 8.65834524e-01,-2.37754719e-02, 3.89554504e-04,
 -2.94540109e-03, 8.61866811e-01,-2.71063378e-02, 3.08692093e-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,
  7.14513802e-03,-4.28222627e-02, 7.92810059e-02, 6.99800681e-01,
 -8.48857888e-02,-7.03879065e-01,-8.73365427e-02]

qacc:
[ 2.22811931e-01,-1.80683332e+00, 5.66012256e+00,-6.39934114e+00,
 -2.56198043e-02, 3.04216091e+00,-1.30250361e+01, 2.38928502e+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,
  2.55487739e+00, 1.23612641e+00, 4.28058269e+00,-4.97637829e+00,
  1.22322241e+02, 9.60082105e+01]

qfrc_actuator:
[ 2.35762196e-03, 2.72994008e-02, 8.73111356e-03, 1.73906288e-03,
 -7.83836275e-06, 2.73693224e-02, 8.68152873e-03, 1.66344244e-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: -0.0018740617334058254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48103849e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.48103849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007351 , -0.04700875,  0.06182104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05267865e-05,-4.69041971e-05, 1.22606393e-05,-2.85536071e-06,
 -4.55798837e-06, 3.39323105e-06,-3.21914193e-05, 2.85021978e-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,
  1.25863138e-03,-1.53061831e-03,-4.90497715e+00,-2.42617369e-04,
  3.07868886e-02, 7.18497877e-03]


--- Step 2449 ---
qpos:
[-2.52522372e-03, 8.65834397e-01,-2.37750141e-02, 3.91555521e-04,
 -2.94562205e-03, 8.61867742e-01,-2.71064726e-02, 3.08810077e-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,
  7.14144289e-03,-4.27888693e-02, 7.92874983e-02, 6.99668390e-01,
 -8.55542794e-02,-7.04018773e-01,-8.66151025e-02]

qacc:
[ 3.78397314e-01, 2.68498854e+00,-8.91403087e+00, 9.65613335e+00,
 -5.70702983e-02, 3.62696189e+00,-1.54158560e+01, 2.82322136e+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,
  2.35966566e+00, 1.13614042e+00, 3.24650782e+00,-4.31222766e+00,
  1.13159966e+02, 8.96922183e+01]

qfrc_actuator:
[ 2.40739780e-03, 2.73355528e-02, 8.69443197e-03, 1.73852834e-03,
 -1.59008120e-05, 2.73839236e-02, 8.64827019e-03, 1.69803730e-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: -0.0018787219032957853
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47736477e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47736477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00073287, -0.04701037,  0.06182062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90938455e-05, 1.23377522e-05,-4.49668398e-05,-2.17986842e-06,
 -1.02256728e-05, 1.10483181e-05,-3.55483617e-05, 3.41781827e-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,
  3.76221528e-04,-9.86632216e-04,-4.90497246e+00,-1.76644203e-04,
  3.07872652e-02, 7.18687853e-03]


--- Step 2450 ---
qpos:
[-2.52521126e-03, 8.65833457e-01,-2.37740053e-02, 3.93581211e-04,
 -2.94594310e-03, 8.61868345e-01,-2.71067943e-02, 3.08972092e-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,
  7.14654411e-03,-4.27512519e-02, 7.93034799e-02, 6.99697927e-01,
 -8.63285176e-02,-7.03994867e-01,-8.57987439e-02]

qacc:
[ 1.48770176e-01,-2.56199995e+00, 7.47253014e+00,-7.33125597e+00,
 -5.26904264e-02, 9.95663505e-01,-6.03635634e+00, 1.41974123e+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,
  2.19908549e+00, 1.05597827e+00, 2.37231354e+00,-3.74516742e+00,
  1.05562566e+02, 8.44372233e+01]

qfrc_actuator:
[ 2.40143232e-03, 2.72506012e-02, 8.70824796e-03, 1.73742051e-03,
 -2.05854216e-05, 2.73389251e-02, 8.62878460e-03, 1.71791104e-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: -0.0018643404502948074
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97752222e-14, -5.95504445e-14,  1.00000000e+00,  1.77312772e-27,
        1.00000000e+00,  5.95504445e-14, -1.00000000e+00,  0.00000000e+00,
        2.97752222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074413, -0.04701538,  0.06182193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69819540e-05,-8.74276674e-05, 1.07423207e-05,-2.18258494e-06,
 -9.53733149e-06,-4.47222912e-05,-2.04087727e-05, 1.97790578e-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,
  1.99644707e-05,-2.77485983e-04,-4.90499505e+00,-8.61221409e-05,
  3.07883569e-02, 7.18703999e-03]


--- Step 2451 ---
qpos:
[-2.52547495e-03, 8.65832102e-01,-2.37726640e-02, 3.95542092e-04,
 -2.94633928e-03, 8.61868727e-01,-2.71067998e-02, 3.09117304e-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,
  7.15991516e-03,-4.27096665e-02, 7.93259974e-02, 6.99879387e-01,
 -8.72029029e-02,-7.03816638e-01,-8.48919140e-02]

qacc:
[-1.44441515e-01,-1.60983640e+00, 5.21846528e+00,-6.56831266e+00,
 -3.92945931e-02,-1.52078287e+00, 5.70799861e+00,-8.96085243e+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,
  2.06745918e+00, 9.91997416e-01, 1.63397140e+00,-3.25338577e+00,
  9.92653847e+01, 8.00815261e+01]

qfrc_actuator:
[ 2.36217325e-03, 2.72537522e-02, 8.73355604e-03, 1.73593074e-03,
 -2.32077130e-05, 2.73473860e-02, 8.65283931e-03, 1.71117040e-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: -0.0018347739787936135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.56375879e-15, -3.02550352e-14,  1.00000000e+00,  2.28841788e-28,
        1.00000000e+00,  3.02550352e-14, -1.00000000e+00,  0.00000000e+00,
        7.56375879e-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([-0.00076609, -0.04702317,  0.06182462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64032061e-05,-4.35972276e-05, 8.49547773e-06,-4.90917854e-06,
 -7.15513402e-06,-1.99299764e-05, 1.29838436e-05,-8.98059150e-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,
  8.79278891e-05, 5.66605043e-04,-4.90504011e+00, 2.53614254e-05,
  3.07897742e-02, 7.18581100e-03]


--- Step 2452 ---
qpos:
[-2.52611423e-03, 8.65831490e-01,-2.37721035e-02, 3.97051299e-04,
 -2.94678564e-03, 8.61869493e-01,-2.71073552e-02, 3.09251454e-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,
  7.17663160e-03,-4.26830012e-02, 7.93536232e-02, 7.00151526e-01,
 -8.77721081e-02,-7.03548930e-01,-8.42781119e-02]

qacc:
[-1.97697183e-01, 2.23256788e+00,-4.62919923e+00,-2.48334315e+00,
 -2.69225879e-02, 1.81337210e+00,-5.26507405e+00, 3.95048878e+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,
  8.36347508e-01,-3.73001797e+00, 1.27706697e+00, 3.83141752e+00,
  8.89525470e+01,-2.02187244e+02]

qfrc_actuator:
[ 2.33888899e-03, 2.73451971e-02, 8.71249965e-03, 1.71653877e-03,
 -2.45775443e-05, 2.73879479e-02, 8.63157933e-03, 1.70664599e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018654819914261586
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.95140039e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.95140039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672673, -0.02208225,  0.0618221 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58776989e-05, 6.86264925e-05,-2.91861775e-05,-2.10635911e-05,
 -4.76881161e-06, 3.17021293e-05,-2.40922171e-05,-5.10627227e-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,
  5.05687395e-04, 1.52449266e-03,-4.90510552e+00, 1.55192007e-04,
  3.07911970e-02, 7.18344404e-03]


--- Step 2453 ---
qpos:
[-2.52651637e-03, 8.65831224e-01,-2.37722284e-02, 3.97324555e-04,
 -2.94707569e-03, 8.61870408e-01,-2.71083531e-02, 3.09312328e-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,
  7.19643479e-03,-4.26701775e-02, 7.93831103e-02, 7.00508506e-01,
 -8.80593005e-02,-7.03198659e-01,-8.39347275e-02]

qacc:
[ 1.23722417e-01,-1.74387799e-01, 6.49889972e+00,-2.70447522e+01,
  8.19466425e-02,-7.46562642e-02, 3.64581989e+00,-1.57294783e+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,
  7.71688905e-01,-3.46039371e+00, 4.65343244e-01, 3.84400031e+00,
  8.24995433e+01,-1.86673146e+02]

qfrc_actuator:
[ 2.37865739e-03, 2.73288520e-02, 8.66460475e-03, 1.65131302e-03,
 -7.43815368e-06, 2.73762436e-02, 8.60162280e-03, 1.66795585e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018722734255935264
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96490622e-14, -2.96490622e-14,  1.00000000e+00,  8.79066889e-28,
        1.00000000e+00,  2.96490622e-14, -1.00000000e+00,  0.00000000e+00,
        2.96490622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672696, -0.0220877 ,  0.06182169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26708164e-05, 1.51041174e-05,-3.80471455e-05,-6.37077503e-05,
  1.48799751e-05, 8.11763589e-07,-2.65580504e-05,-3.82676616e-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,
  7.27122286e-04, 1.18699031e-03,-4.90502203e+00, 2.26250577e-04,
  3.07895135e-02, 7.18287072e-03]


--- Step 2454 ---
qpos:
[-2.52599815e-03, 8.65830699e-01,-2.37721539e-02, 3.97176577e-04,
 -2.94718322e-03, 8.61871120e-01,-2.71086982e-02, 3.09254269e-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,
  7.21911065e-03,-4.26702999e-02, 7.94116986e-02, 7.00945175e-01,
 -8.80837694e-02,-7.02771277e-01,-8.38429698e-02]

qacc:
[ 4.82734802e-01,-1.76442518e+00, 7.57512078e+00,-1.49954386e+01,
  9.65433985e-02,-4.53740144e+00, 2.08117187e+01,-4.22953273e+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,
  7.18164517e-01,-3.23651443e+00,-2.24729953e-01, 3.82079201e+00,
  7.71323256e+01,-1.73767153e+02]

qfrc_actuator:
[ 2.45579489e-03, 2.73011920e-02, 8.67183433e-03, 1.63056247e-03,
  2.86771476e-06, 2.73687652e-02, 8.63757150e-03, 1.60943266e-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: -0.0018588027660258674
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49319638e-14,  2.98639276e-14,  1.00000000e+00, -4.45927086e-28,
        1.00000000e+00, -2.98639276e-14, -1.00000000e+00,  0.00000000e+00,
        1.49319638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672073, -0.02207288,  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:
[ 8.79513844e-05,-2.97905185e-05, 3.45926837e-06,-2.26605788e-05,
  1.73702957e-05,-1.41618130e-05, 3.15191244e-05,-6.01535590e-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,
  9.70637156e-04, 6.73244719e-04,-4.90500478e+00, 2.44074983e-04,
  3.07912152e-02, 7.18436084e-03]


--- Step 2455 ---
qpos:
[-2.52456476e-03, 8.65829883e-01,-2.37714490e-02, 3.97445725e-04,
 -2.94732627e-03, 8.61871358e-01,-2.71085074e-02, 3.09199870e-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,
  7.24448125e-03,-4.26826237e-02, 7.94370404e-02, 7.01456978e-01,
 -8.78615774e-02,-7.02271029e-01,-8.39872193e-02]

qacc:
[ 4.80347794e-01,-1.28684422e+00, 2.26931636e+00, 4.15458174e+00,
 -1.81946535e-02,-2.04531570e+00, 6.23248199e+00,-6.11082710e+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,
  6.73687833e-01,-3.05037878e+00,-8.11600357e-01, 3.77273795e+00,
  7.26729190e+01,-1.63028348e+02]

qfrc_actuator:
[ 2.50131790e-03, 2.73027130e-02, 8.71152789e-03, 1.65392933e-03,
 -8.76789527e-06, 2.73286104e-02, 8.65888705e-03, 1.61076985e-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: -0.001829115197196439
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51743180e-14,  3.03486360e-14,  1.00000000e+00, -4.60519852e-28,
        1.00000000e+00, -3.03486360e-14, -1.00000000e+00,  0.00000000e+00,
        1.51743180e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00670937, -0.02204208,  0.0618258 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74580640e-05,-1.53717499e-05, 3.31850274e-05, 2.17688880e-05,
 -3.39131329e-06,-4.41523766e-05, 2.01899909e-05, 6.50623750e-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,
  1.23208667e-03, 1.78994444e-05,-4.90504325e+00, 2.15938450e-04,
  3.07958768e-02, 7.18769145e-03]


--- Step 2456 ---
qpos:
[-2.52316413e-03, 8.65829501e-01,-2.37708528e-02, 3.97949627e-04,
 -2.94755873e-03, 8.61871307e-01,-2.71081295e-02, 3.09216627e-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,
  7.25475853e-03,-4.26992592e-02, 7.94448373e-02, 7.01686061e-01,
 -8.75145756e-02,-7.02049677e-01,-8.42859534e-02]

qacc:
[-1.73824172e-02, 1.35900092e+00,-5.00604438e+00, 8.92511161e+00,
 -4.68306265e-02, 5.60178943e-01,-5.55540329e+00, 1.77840278e+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,
 -3.77333291e+00,-1.07791211e+00,-4.38623759e+00,-1.11789417e+01,
 -1.85062001e+02,-1.22131856e+02]

qfrc_actuator:
[ 2.45649872e-03, 2.73573848e-02, 8.71693121e-03, 1.66759152e-03,
 -1.56707334e-05, 2.73224587e-02, 8.67127845e-03, 1.64727306e-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: -0.0018137781168804518
  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([ 0.05523943, -0.03484307,  0.06182727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11853591e-06, 5.38836404e-05, 7.06882179e-06, 1.45742777e-05,
 -8.51838919e-06,-2.66498000e-05, 5.78043058e-06, 3.53235185e-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,
  1.50871522e-03,-7.54346246e-04,-4.90513025e+00, 1.47298147e-04,
  3.08031005e-02, 7.19267354e-03]


--- Step 2457 ---
qpos:
[-2.52243756e-03, 8.65829221e-01,-2.37703505e-02, 3.98654680e-04,
 -2.94768913e-03, 8.61870938e-01,-2.71070157e-02, 3.09273504e-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,
  7.25112909e-03,-4.27198240e-02, 7.94333966e-02, 7.01654799e-01,
 -8.70513719e-02,-7.02085396e-01,-8.47271993e-02]

qacc:
[-3.53498335e-01, 8.11925359e-01,-3.54688747e+00, 7.10281075e+00,
  5.43580294e-02,-1.64856717e+00, 3.57612740e+00, 2.42214961e+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,
 -3.47667888e+00,-9.82307002e-01,-4.80937550e+00,-9.81481006e+00,
 -1.70446257e+02,-1.13009497e+02]

qfrc_actuator:
[ 2.39356135e-03, 2.73368229e-02, 8.70224732e-03, 1.67544641e-03,
 -1.91316818e-06, 2.73189615e-02, 8.71395522e-03, 1.66868103e-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([  8.63636364,   7.54060007,   4.21024078,   7.54060007,
        24.07449096, -27.64990176,   4.21024078, -27.64990176,
        58.15772406,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018245949452392746
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.04238217e-14,  6.08476433e-14,  1.00000000e+00,  1.85121785e-27,
        1.00000000e+00, -6.08476433e-14, -1.00000000e+00,  0.00000000e+00,
       -3.04238217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05521942, -0.03484305,  0.06182637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44178282e-05, 1.16534723e-05,-2.18326649e-06, 1.06902376e-05,
  9.71005148e-06,-1.56952760e-05, 3.91050002e-05, 2.11533792e-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,
  2.30972613e-04,-4.23688185e-04,-4.90509254e+00, 1.12584964e-04,
  3.08049332e-02, 7.18515072e-03]


--- Step 2458 ---
qpos:
[-2.52242620e-03, 8.65828554e-01,-2.37698310e-02, 4.00540869e-04,
 -2.94768435e-03, 8.61870006e-01,-2.71055469e-02, 3.09430475e-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,
  7.23460769e-03,-4.27439956e-02, 7.94012539e-02, 7.01381698e-01,
 -8.64791951e-02,-7.02359482e-01,-8.53007660e-02]

qacc:
[-3.74775308e-01, 1.87230043e+00,-1.24031296e+01, 3.31019038e+01,
  7.16735872e-02, 3.24039437e-01,-6.46110809e+00, 2.36309477e+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,
 -3.22298773e+00,-9.01727402e-01,-5.17551099e+00,-8.64765990e+00,
 -1.58144984e+02,-1.05296213e+02]

qfrc_actuator:
[ 2.35591273e-03, 2.72890308e-02, 8.69329235e-03, 1.73301454e-03,
  6.33228648e-06, 2.72639436e-02, 8.72092159e-03, 1.71656284e-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([  8.63636364,   7.85545172,   3.58868432,   7.85545172,
        20.56211087, -26.10486834,   3.58868432, -26.10486834,
        65.77862378,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018122404202182765
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.0631229e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.0631229e-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([ 0.05524249, -0.03483559,  0.06182736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.83631248e-05,-4.12765085e-05,-6.44964247e-06, 5.81992975e-05,
  1.28519951e-05,-5.48116540e-05, 9.26830612e-06, 4.89725657e-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,
  4.85564032e-05, 2.34141023e-04,-4.90508431e+00, 1.02794175e-04,
  3.08030744e-02, 7.18280146e-03]


--- Step 2459 ---
qpos:
[-2.52317365e-03, 8.65827941e-01,-2.37695731e-02, 4.03065064e-04,
 -2.94756436e-03, 8.61868886e-01,-2.71046140e-02, 3.09575975e-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,
  7.20607205e-03,-4.27714998e-02, 7.93471388e-02, 7.00882051e-01,
 -8.58040913e-02,-7.02855860e-01,-8.59979609e-02]

qacc:
[-3.97997047e-01, 2.11450542e+00,-1.01296940e+01, 2.15511917e+01,
  6.03952545e-02, 1.01202461e+00,-3.48486045e+00, 2.49616878e+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,
 -3.00356189e+00,-8.33132915e-01,-5.49310604e+00,-7.63507895e+00,
 -1.47779381e+02,-9.87753631e+01]

qfrc_actuator:
[ 2.31599551e-03, 2.73141123e-02, 8.68770134e-03, 1.76609225e-03,
  1.11965401e-05, 2.72493965e-02, 8.68879560e-03, 1.70855821e-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([  8.63636364,   8.29328   ,   2.41003812,   8.29328   ,
        14.26735508, -19.37703322,   2.41003812, -19.37703322,
        75.31545921,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001781176226980527
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.24661783e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.24661783e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0552997 , -0.03482221,  0.06182986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.25194070e-05, 3.16194096e-06,-1.28970497e-05, 3.22175921e-05,
  1.09574053e-05,-4.11745524e-05,-4.06158113e-05,-9.08198149e-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,
  7.33417099e-04, 1.15101412e-03,-4.90509874e+00, 1.11451631e-04,
  3.07986443e-02, 7.18440644e-03]


--- Step 2460 ---
qpos:
[-2.52434008e-03, 8.65828136e-01,-2.37697045e-02, 4.04840713e-04,
 -2.94717380e-03, 8.61867849e-01,-2.71044268e-02, 3.09570653e-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,
  7.18790004e-03,-4.27955002e-02, 7.93186028e-02, 7.00579097e-01,
 -8.52436650e-02,-7.03153770e-01,-8.65864964e-02]

qacc:
[-2.20244837e-01, 6.12732338e-01, 2.52247532e+00,-1.54472500e+01,
  1.41904880e-01,-9.11902299e-01, 9.77647187e+00,-3.47474320e+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,
  2.59090552e+00, 8.75927150e-01, 6.39476095e+00,-2.09704664e+00,
  1.29082240e+02, 9.53519709e+01]

qfrc_actuator:
[ 2.31055207e-03, 2.74003846e-02, 8.68440050e-03, 1.73128850e-03,
  3.17506029e-05, 2.72589813e-02, 8.65171572e-03, 1.63223174e-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: -0.0017691758598383373
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13768419e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.13768419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00076327, -0.04583648,  0.06183055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00215537e-05, 8.67583448e-05,-3.12124720e-06,-3.44896449e-05,
  2.57510664e-05,-2.21977149e-05,-5.09030064e-05,-7.96749854e-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,
  2.11763756e-03, 2.27716904e-03,-4.90512705e+00, 1.33877803e-04,
  3.07924051e-02, 7.18904597e-03]


--- Step 2461 ---
qpos:
[-2.52536122e-03, 8.65828207e-01,-2.37695295e-02, 4.06256803e-04,
 -2.94652867e-03, 8.61867194e-01,-2.71052147e-02, 3.09506168e-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,
  7.18019899e-03,-4.28151436e-02, 7.93093980e-02, 7.00472845e-01,
 -8.48144250e-02,-7.03254003e-01,-8.70523636e-02]

qacc:
[ 7.63997750e-02,-1.75855413e+00, 7.55147706e+00,-1.41745031e+01,
  1.33286384e-01, 2.00809302e+00,-3.93281402e+00,-5.02465202e+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,
  2.61774359e+00, 1.08927503e+00, 4.83281803e+00,-3.00025464e+00,
  1.27492400e+02, 1.06032764e+02]

qfrc_actuator:
[ 2.34350924e-03, 2.73450700e-02, 8.68270608e-03, 1.71014512e-03,
  4.37644823e-05, 2.73006026e-02, 8.61208776e-03, 1.60511470e-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: -0.0018137252967026923
  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([-0.00077411, -0.04702393,  0.06182647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38846190e-05,-8.93172496e-06, 1.46438226e-05,-1.82083379e-05,
  2.42368774e-05, 1.53096367e-05,-5.32353766e-05,-3.13797015e-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,
  8.54558756e-04, 1.24125883e-03,-4.90504897e+00, 1.42896800e-05,
  3.07929220e-02, 7.19058181e-03]


--- Step 2462 ---
qpos:
[-2.52610256e-03, 8.65827455e-01,-2.37695974e-02, 4.08574613e-04,
 -2.94587792e-03, 8.61867161e-01,-2.71061675e-02, 3.09435324e-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,
  7.18216521e-03,-4.28307285e-02, 7.93150952e-02, 7.00548417e-01,
 -8.45057679e-02,-7.03171998e-01,-8.74061255e-02]

qacc:
[ 1.46878817e-01, 1.44784115e+00,-1.05454184e+01, 2.71447710e+01,
  2.63536738e-03, 1.15203283e+00,-2.64550141e+00, 1.35203658e+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,
  2.41681493e+00, 1.01461944e+00, 3.72550623e+00,-3.03465543e+00,
  1.17757823e+02, 9.73058590e+01]

qfrc_actuator:
[ 2.36360482e-03, 2.72409166e-02, 8.64593041e-03, 1.75036629e-03,
  3.28093820e-05, 2.73788665e-02, 8.62471641e-03, 1.60721004e-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: -0.0018326963900376497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.0289333e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.0289333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076078, -0.04701795,  0.06182476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67146213e-05,-1.06904832e-04,-3.74499637e-05, 3.99883600e-05,
  5.53043986e-07, 7.45118363e-05, 8.15731117e-06, 3.00593012e-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,
  1.52680806e-04, 4.20003968e-04,-4.90499767e+00,-7.51236523e-05,
  3.07930646e-02, 7.19125433e-03]


--- Step 2463 ---
qpos:
[-2.52658328e-03, 8.65827027e-01,-2.37705529e-02, 4.10908959e-04,
 -2.94510967e-03, 8.61867221e-01,-2.71067484e-02, 3.09301459e-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,
  7.19313728e-03,-4.28425048e-02, 7.93319495e-02, 7.00793326e-01,
 -8.43088838e-02,-7.02920392e-01,-8.76564251e-02]

qacc:
[ 1.35974573e-01, 2.93910914e+00,-9.93146218e+00, 1.14028542e+01,
  6.20429029e-02,-2.21262284e+00, 1.07277279e+01,-2.22998066e+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,
  2.25146291e+00, 9.52139131e-01, 2.78925490e+00,-3.03248778e+00,
  1.09686809e+02, 9.01046357e+01]

qfrc_actuator:
[ 2.37579082e-03, 2.73212395e-02, 8.62403784e-03, 1.75527820e-03,
  4.37252737e-05, 2.73544534e-02, 8.63277368e-03, 1.57328350e-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: -0.0018303886553110438
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03275215e-14, -3.03275215e-14,  1.00000000e+00,  9.19758558e-28,
        1.00000000e+00,  3.03275215e-14, -1.00000000e+00,  0.00000000e+00,
        3.03275215e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076287, -0.04701685,  0.06182501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49122529e-05, 1.45416617e-05,-4.71986189e-05,-1.87895949e-07,
  1.11874658e-05, 1.89592282e-05, 2.44702192e-05,-3.04438331e-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,
  1.19262559e-05,-9.36797156e-05,-4.90497830e+00,-1.31782633e-04,
  3.07934975e-02, 7.19093116e-03]


--- Step 2464 ---
qpos:
[-2.52649152e-03, 8.65827424e-01,-2.37715377e-02, 4.12466709e-04,
 -2.94422081e-03, 8.61867448e-01,-2.71075362e-02, 3.09200189e-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,
  7.19127411e-03,-4.28479352e-02, 7.93337443e-02, 7.00765753e-01,
 -8.42074552e-02,-7.02942681e-01,-8.77955107e-02]

qacc:
[ 2.99802385e-01,-4.26917377e-01, 6.38140055e+00,-2.03804400e+01,
  6.33542908e-02, 1.46904915e+00,-6.29370336e+00, 1.21443527e+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,
 -3.20880945e+00, 1.58649945e+00,-3.76487353e+00, 6.15805344e+00,
 -2.00609790e+02, 4.90296104e+01]

qfrc_actuator:
[ 2.41864361e-03, 2.74226684e-02, 8.64732230e-03, 1.72177643e-03,
  4.98970183e-05, 2.73574790e-02, 8.61986466e-03, 1.58934643e-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: -0.0018129627162421294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53095126e-14, -3.06190253e-14,  1.00000000e+00,  4.68762354e-28,
        1.00000000e+00,  3.06190253e-14, -1.00000000e+00,  0.00000000e+00,
        1.53095126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04940095, -0.05870109,  0.06182663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.47351655e-05, 9.98224083e-05, 2.04736380e-05,-3.45178166e-05,
  1.14848158e-05, 1.73833400e-05,-7.02614854e-06, 1.71321355e-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,
  3.17999255e-04,-3.63786831e-04,-4.90498398e+00,-1.61324755e-04,
  3.07942214e-02, 7.18968741e-03]


--- Step 2465 ---
qpos:
[-2.52567593e-03, 8.65828330e-01,-2.37719194e-02, 4.13951100e-04,
 -2.94342698e-03, 8.61868529e-01,-2.71088364e-02, 3.09181260e-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,
  7.18630955e-03,-4.28395402e-02, 7.93332926e-02, 7.00649835e-01,
 -8.43736650e-02,-7.03056817e-01,-8.76470483e-02]

qacc:
[ 3.79707734e-01,-1.16305551e+00, 5.43297129e+00,-8.04232237e+00,
 -5.06326547e-02, 4.25030285e+00,-1.69974732e+01, 3.14452918e+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,
 -7.75346009e-01, 3.45633758e+00,-5.61614982e-01, 7.60120402e+00,
 -8.70880412e+01, 1.87073848e+02]

qfrc_actuator:
[ 2.46172772e-03, 2.74473667e-02, 8.67945720e-03, 1.71927085e-03,
  3.54195138e-05, 2.74478661e-02, 8.61255849e-03, 1.63469896e-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: -0.0018167992757095325
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.3870599e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.3870599e-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([ 0.02140368, -0.0650008 ,  0.06182632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91952014e-05, 8.32694584e-05, 5.40805631e-05, 1.80491585e-06,
 -9.02377845e-06, 9.93940017e-05,-3.98294584e-06, 4.61897231e-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,
  1.13423163e-05, 2.83847365e-05,-4.90498922e+00,-1.48450115e-04,
  3.07965622e-02, 7.19323088e-03]


--- Step 2466 ---
qpos:
[-2.52443827e-03, 8.65829073e-01,-2.37710042e-02, 4.15432161e-04,
 -2.94277208e-03, 8.61869799e-01,-2.71102160e-02, 3.09153247e-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,
  7.19047545e-03,-4.28270968e-02, 7.93444220e-02, 7.00704754e-01,
 -8.46513368e-02,-7.02999860e-01,-8.73967735e-02]

qacc:
[ 2.22160399e-01,-3.84257378e+00, 1.34055700e+01,-1.54218032e+01,
 -7.32930500e-02, 2.84582150e-01,-2.68735576e-01,-1.31517381e+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,
  2.28261240e+00, 1.01209262e+00, 2.89526781e+00,-3.54881791e+00,
  1.10811996e+02, 8.95540451e+01]

qfrc_actuator:
[ 2.46906501e-03, 2.74082601e-02, 8.73403417e-03, 1.71721776e-03,
  2.64725022e-05, 2.74123910e-02, 8.59124964e-03, 1.62598689e-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: -0.0018125168839878136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12531135e-14, -3.06265568e-14,  1.00000000e+00,  1.87597196e-27,
        1.00000000e+00,  3.06265568e-14, -1.00000000e+00,  0.00000000e+00,
        6.12531135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077696, -0.04701842,  0.0618267 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03387255e-05, 1.86887881e-05, 7.84922310e-05, 3.41663965e-06,
 -1.32189576e-05, 2.12433862e-05, 3.28659919e-07,-3.69224608e-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,
  6.06569009e-05,-1.06733821e-04,-4.90501893e+00,-1.42087840e-04,
  3.08004983e-02, 7.19345866e-03]


--- Step 2467 ---
qpos:
[-2.52296115e-03, 8.65829891e-01,-2.37702315e-02, 4.16602404e-04,
 -2.94242757e-03, 8.61869899e-01,-2.71106510e-02, 3.09194687e-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,
  7.20320438e-03,-4.28108411e-02, 7.93639037e-02, 7.00919645e-01,
 -8.50335667e-02,-7.02782385e-01,-8.70509268e-02]

qacc:
[ 1.25421476e-01,-1.43725889e-01, 1.96656487e+00,-7.17207343e+00,
 -1.62410952e-01,-2.75116005e+00, 4.63815021e+00, 6.72723544e+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,
  2.14075799e+00, 9.53065916e-01, 2.08809074e+00,-3.28213651e+00,
  1.03854204e+02, 8.40205149e+01]

qfrc_actuator:
[ 2.47271909e-03, 2.73845962e-02, 8.71237826e-03, 1.69764285e-03,
  3.17306582e-06, 2.72839688e-02, 8.61456909e-03, 1.65643146e-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: -0.0017957727135582136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09121254e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.09121254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078947, -0.04702176,  0.06182825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28872967e-05, 3.11937529e-06,-8.02406990e-06,-1.59967010e-05,
 -2.95717066e-05,-1.16654345e-04, 2.76209168e-05, 3.12948928e-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,
  4.95414918e-05, 1.37824234e-04,-4.90503991e+00,-1.07867424e-04,
  3.08028825e-02, 7.19159312e-03]


--- Step 2468 ---
qpos:
[-2.52154029e-03, 8.65830677e-01,-2.37705204e-02, 4.18298929e-04,
 -2.94237683e-03, 8.61869176e-01,-2.71105909e-02, 3.09374673e-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,
  7.20419281e-03,-4.27887490e-02, 7.93661749e-02, 7.00885931e-01,
 -8.55028648e-02,-7.02814373e-01,-8.66032913e-02]

qacc:
[-3.01247688e-02, 4.00503327e+00,-1.65647117e+01, 2.73977891e+01,
 -1.54035858e-01, 3.81071360e-01,-8.78536688e+00, 3.25766764e+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,
 -2.93512255e+00, 1.45912547e+00,-4.30263370e+00, 5.54193440e+00,
 -1.82901815e+02, 4.48409422e+01]

qfrc_actuator:
[ 2.45642438e-03, 2.73522736e-02, 8.64590325e-03, 1.72112156e-03,
 -1.07581734e-05, 2.72608349e-02, 8.64592071e-03, 1.72737362e-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: -0.0017767225503590098
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12435677e-14,  1.56217838e-14,  1.00000000e+00, -4.88080260e-28,
        1.00000000e+00, -1.56217838e-14, -1.00000000e+00,  0.00000000e+00,
        3.12435677e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04946434, -0.05873795,  0.06183003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38319986e-06,-3.29482608e-05,-6.73885369e-05, 2.30185214e-05,
 -2.79838826e-05,-8.13225068e-05, 1.17483088e-05, 6.75104398e-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,
  4.27590863e-04, 5.47453290e-04,-4.90508208e+00,-5.17514446e-05,
  3.08056229e-02, 7.18876484e-03]


--- Step 2469 ---
qpos:
[-2.52043985e-03, 8.65831005e-01,-2.37706085e-02, 4.20231393e-04,
 -2.94236546e-03, 8.61868605e-01,-2.71110354e-02, 3.09494450e-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,
  7.21395633e-03,-4.27626483e-02, 7.93778319e-02, 7.01015712e-01,
 -8.60793827e-02,-7.02681530e-01,-8.60579902e-02]

qacc:
[-1.67704134e-01,-6.79429420e-01, 5.49683227e-01, 3.54788524e+00,
 -2.11389634e-02, 3.69583738e-01, 1.51341356e+00,-1.12371277e+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,
  2.19376983e+00, 1.00212500e+00, 2.34644663e+00,-3.40180832e+00,
  1.06398968e+02, 8.60303743e+01]

qfrc_actuator:
[ 2.42836033e-03, 2.73325848e-02, 8.66002863e-03, 1.73421441e-03,
 -1.20831169e-06, 2.73009955e-02, 8.62890526e-03, 1.69737717e-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: -0.0017562319146682062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16080984e-14, -1.58040492e-14,  1.00000000e+00, -4.99535943e-28,
        1.00000000e+00,  1.58040492e-14, -1.00000000e+00,  0.00000000e+00,
       -3.16080984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00081851, -0.0470302 ,  0.06183184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06360029e-05,-5.10672403e-05,-1.92561430e-07, 9.79374227e-06,
 -3.74506627e-06, 1.60114048e-08,-3.00235451e-05,-3.17607021e-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,
  4.55038561e-06, 4.86043003e-05,-4.90508356e+00,-5.51983531e-05,
  3.08048200e-02, 7.18963327e-03]


--- Step 2470 ---
qpos:
[-2.51929971e-03, 8.65831583e-01,-2.37705129e-02, 4.21178507e-04,
 -2.94268536e-03, 8.61867975e-01,-2.71116185e-02, 3.09508440e-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,
  7.21240931e-03,-4.27309028e-02, 7.93713898e-02, 7.00906311e-01,
 -8.67399939e-02,-7.02787935e-01,-8.54144869e-02]

qacc:
[ 2.07983371e-02,-2.21025493e+00, 1.25204637e+01,-3.00525633e+01,
 -1.74591280e-01,-1.86621189e+00, 1.10089029e+01,-2.90551405e+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,
 -2.82763444e+00, 1.41121408e+00,-4.52478156e+00, 5.02728085e+00,
 -1.75737557e+02, 4.33772157e+01]

qfrc_actuator:
[ 2.44677925e-03, 2.73919255e-02, 8.68617127e-03, 1.68789768e-03,
 -3.09645888e-05, 2.72897244e-02, 8.61917652e-03, 1.64375618e-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: -0.0017421110283032462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.18643016e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.18643016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0495238 , -0.05876968,  0.06183315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80369663e-06, 3.11484810e-05, 1.59057039e-05,-4.83233128e-05,
 -3.15331671e-05,-1.88083819e-05,-1.45176860e-05,-5.52779410e-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,
  2.47878737e-04, 6.63683775e-04,-4.90513615e+00, 2.65586524e-05,
  3.08085764e-02, 7.18630059e-03]


--- Step 2471 ---
qpos:
[-2.51784428e-03, 8.65832542e-01,-2.37707927e-02, 4.21929679e-04,
 -2.94334652e-03, 8.61866784e-01,-2.71119067e-02, 3.09599690e-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,
  7.21408776e-03,-4.27148045e-02, 7.93718642e-02, 7.00894162e-01,
 -8.70809712e-02,-7.02798998e-01,-8.50755325e-02]

qacc:
[ 1.64923404e-01, 1.14703390e+00,-2.53429925e+00,-5.34586180e-01,
 -1.79298893e-01, 2.57095945e-02,-4.42810381e+00, 1.77398369e+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,
  8.06368887e-01,-3.91180760e+00, 1.72913804e+00, 5.14609234e+00,
  9.44452265e+01,-2.10759327e+02]

qfrc_actuator:
[ 2.47510334e-03, 2.74093957e-02, 8.66620312e-03, 1.67807263e-03,
 -4.84916374e-05, 2.72477436e-02, 8.63140833e-03, 1.68317288e-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: -0.0017776402404934
  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([ 0.0067035 , -0.02198321,  0.06182999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01406818e-05, 3.60850579e-05,-1.32554278e-05,-8.88354312e-06,
 -3.24969217e-05,-5.78487087e-05, 4.65519724e-06, 3.70346093e-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,
  8.76927722e-06,-1.59889321e-04,-4.90514368e+00, 2.03733430e-05,
  3.08072686e-02, 7.18630881e-03]


--- Step 2472 ---
qpos:
[-2.51662579e-03, 8.65832882e-01,-2.37706343e-02, 4.23320758e-04,
 -2.94390227e-03, 8.61865280e-01,-2.71120960e-02, 3.09701065e-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,
  7.21875631e-03,-4.27131654e-02, 7.93757328e-02, 7.00972066e-01,
 -8.71275025e-02,-7.02722604e-01,-8.50170716e-02]

qacc:
[-1.23702523e-01,-7.24068771e-01,-1.30565563e+00, 1.21332278e+01,
  5.56934734e-02,-4.79767906e-01, 6.84657281e-01, 1.13893792e+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,
  7.47521876e-01,-3.61479398e+00, 8.48541413e-01, 4.82321703e+00,
  8.70321578e+01,-1.94127686e+02]

qfrc_actuator:
[ 2.43806856e-03, 2.73305029e-02, 8.67231196e-03, 1.70749996e-03,
 -2.30333819e-05, 2.72411206e-02, 8.63868571e-03, 1.68824171e-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: -0.0017988000976655732
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08601002e-14, -6.17202004e-14,  1.00000000e+00,  1.90469157e-27,
        1.00000000e+00,  6.17202004e-14, -1.00000000e+00,  0.00000000e+00,
        3.08601002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00671082, -0.02200498,  0.06182814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26601812e-05,-6.18539468e-05, 1.16131523e-05, 3.03386108e-05,
  1.00244474e-05,-3.63972942e-05,-2.80366168e-06, 3.47408214e-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,
  4.91149837e-06, 5.41719621e-05,-4.90503078e+00, 9.15689871e-05,
  3.08006316e-02, 7.18357851e-03]


--- Step 2473 ---
qpos:
[-2.51594218e-03, 8.65832575e-01,-2.37697246e-02, 4.24690807e-04,
 -2.94424602e-03, 8.61864102e-01,-2.71122525e-02, 3.09868975e-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,
  7.22621641e-03,-4.27249942e-02, 7.93799935e-02, 7.01133702e-01,
 -8.69005589e-02,-7.02564966e-01,-8.52190882e-02]

qacc:
[-2.79736237e-01,-2.99477433e+00, 9.52890076e+00,-1.06224355e+01,
  1.11594265e-01, 1.70490840e+00,-8.26691603e+00, 1.94929353e+01,
  8.78864647e-02, 4.11893347e+00,-1.57824489e+01, 2.64147930e+01,
 -4.58362966e-02, 3.41348309e-01, 6.57620706e+00,-2.30143377e+01,
  6.97890963e-01,-3.36695978e+00, 9.80382939e-02, 4.52155038e+00,
  8.08669441e+01,-1.80283650e+02]

qfrc_actuator:
[ 2.39774984e-03, 2.73011555e-02, 8.71115629e-03, 1.70646335e-03,
 -7.59937417e-06, 2.73089460e-02, 8.66082127e-03, 1.72632201e-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: -0.0017973981142482137
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08841713e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.08841713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00671049, -0.02200386,  0.06182828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11327967e-05,-6.02535851e-05, 2.85437651e-05,-2.69644180e-06,
  2.01880215e-05, 4.70798798e-05, 1.44051382e-05, 3.64925924e-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,
  4.42061254e-05, 2.27901190e-05,-4.90500043e+00, 1.04056314e-04,
  3.07990788e-02, 7.18344599e-03]


--- Step 2474 ---
qpos:
[-2.51520908e-03, 8.65832093e-01,-2.37687387e-02, 4.24987748e-04,
 -2.94439188e-03, 8.61863740e-01,-2.71124123e-02, 3.10074911e-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,
  7.22000147e-03,-4.27405161e-02, 7.93646687e-02, 7.01038090e-01,
 -8.65546665e-02,-7.02661404e-01,-8.55618871e-02]

qacc:
[ 2.59996202e-02,-2.65206283e+00, 1.36514246e+01,-3.22182721e+01,
  1.03947547e-01, 1.87038184e+00,-6.70808872e+00, 1.26955965e+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,
 -3.41876085e+00,-9.23290463e-01,-4.89638307e+00,-8.10627642e+00,
 -1.68251901e+02,-1.13139136e+02]

qfrc_actuator:
[ 2.42686397e-03, 2.73018106e-02, 8.71589562e-03, 1.65204809e-03,
  1.67133248e-06, 2.73854235e-02, 8.67414547e-03, 1.74809935e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001780614391658955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11752794e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.11752794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05530266, -0.03484066,  0.06182976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72486979e-06,-2.72675824e-05,-4.28824089e-06,-5.60632518e-05,
  1.88588782e-05, 1.07371147e-04, 2.60931059e-05, 2.50022449e-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,
  1.17635495e-04,-2.03015448e-04,-4.90503603e+00, 6.64176539e-05,
  3.08015799e-02, 7.18552105e-03]


--- Step 2475 ---
qpos:
[-2.51427308e-03, 8.65831820e-01,-2.37679018e-02, 4.24596289e-04,
 -2.94457238e-03, 8.61863775e-01,-2.71127380e-02, 3.10208273e-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,
  7.21652528e-03,-4.27695546e-02, 7.93492212e-02, 7.01024849e-01,
 -8.59393231e-02,-7.02677008e-01,-8.61604162e-02]

qacc:
[ 1.06176867e-01,-7.24924400e-01, 5.89066850e+00,-1.77195529e+01,
 -1.85279493e-02,-5.05627579e-01, 5.62772492e+00,-1.82150856e+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,
  6.84686788e-01,-3.37914559e+00,-3.06825269e-02, 4.70835934e+00,
  7.98682555e+01,-1.77282540e+02]

qfrc_actuator:
[ 2.44400952e-03, 2.73380064e-02, 8.71829910e-03, 1.61992402e-03,
 -1.05792593e-05, 2.73599536e-02, 8.64670057e-03, 1.70685595e-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: -0.0017724031237687649
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26394193e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.26394193e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00670314, -0.02197947,  0.06183038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93963325e-05, 1.76633357e-05,-5.70178677e-06,-3.45332374e-05,
 -3.28591690e-06, 4.10385798e-05,-1.18896283e-06,-3.52566624e-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,
  1.17250484e-04, 2.81540873e-04,-4.90503493e+00, 6.09180128e-05,
  3.08000537e-02, 7.18505527e-03]


--- Step 2476 ---
qpos:
[-2.51332369e-03, 8.65831874e-01,-2.37668941e-02, 4.24129615e-04,
 -2.94484558e-03, 8.61864305e-01,-2.71136886e-02, 3.10293265e-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,
  7.19954703e-03,-4.27923137e-02, 7.93194718e-02, 7.00730874e-01,
 -8.54310269e-02,-7.02972727e-01,-8.66436821e-02]

qacc:
[ 7.00867102e-03,-2.00050907e-01, 1.65776793e+00,-3.47327358e+00,
 -4.94159723e-02, 1.40185924e+00,-2.01000472e+00,-5.72326649e+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,
 -3.37551500e+00, 1.56982521e+00,-3.57546981e+00, 2.97949688e+00,
 -2.06381168e+02, 5.38804194e+01]

qfrc_actuator:
[ 2.43604808e-03, 2.73774603e-02, 8.73724850e-03, 1.61897184e-03,
 -1.78366332e-05, 2.73799247e-02, 8.61271085e-03, 1.68201192e-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: -0.0017756733944086292
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12620279e-14, -2.34465209e-14,  1.00000000e+00,  7.32985792e-28,
        1.00000000e+00,  2.34465209e-14, -1.00000000e+00,  0.00000000e+00,
        3.12620279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04946555, -0.05874075,  0.06182998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29000447e-06, 4.66750467e-05, 2.06950316e-05,-1.06576385e-06,
 -8.81156182e-06, 4.11622507e-05,-2.68807030e-05,-2.38150119e-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,
  4.69515412e-05, 3.06988249e-04,-4.90512325e+00,-1.44622692e-05,
  3.08055802e-02, 7.18779219e-03]


--- Step 2477 ---
qpos:
[-2.51279345e-03, 8.65832338e-01,-2.37665918e-02, 4.24395463e-04,
 -2.94502035e-03, 8.61865391e-01,-2.71143105e-02, 3.10374882e-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,
  7.19291939e-03,-4.28102629e-02, 7.93090105e-02, 7.00634344e-01,
 -8.50518482e-02,-7.03069745e-01,-8.70093793e-02]

qacc:
[-2.20308946e-01, 4.01909014e+00,-1.66373321e+01, 3.01445760e+01,
  5.18447289e-02,-2.52667896e-01, 2.10988109e+00,-3.62917568e+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,
  2.58765301e+00, 1.20249300e+00, 4.82203139e+00,-4.08861944e+00,
  1.28401839e+02, 1.03616424e+02]

qfrc_actuator:
[ 2.39537816e-03, 2.73831624e-02, 8.69485464e-03, 1.65413759e-03,
 -4.27353346e-06, 2.74446567e-02, 8.64633010e-03, 1.68480837e-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: -0.0018077061279989926
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07080617e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.07080617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077651, -0.0470213 ,  0.06182698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00501405e-05, 3.60200591e-05,-3.02494995e-05, 3.78596415e-05,
  9.38612266e-06, 8.11696751e-05, 3.79861766e-05, 3.16526981e-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,
  7.90617393e-04, 1.01750181e-03,-4.90511580e+00, 1.08255083e-05,
  3.08062497e-02, 7.18742708e-03]


--- Step 2478 ---
qpos:
[-2.51271808e-03, 8.65833426e-01,-2.37666424e-02, 4.25028699e-04,
 -2.94506267e-03, 8.61866504e-01,-2.71137270e-02, 3.10425269e-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,
  7.19586505e-03,-4.28237920e-02, 7.93134136e-02, 7.00720216e-01,
 -8.47916896e-02,-7.02983668e-01,-8.72668909e-02]

qacc:
[-2.38912606e-01, 2.56532893e+00,-9.50249566e+00, 1.59684636e+01,
  7.04897880e-02,-3.97104323e+00, 1.55325064e+01,-2.28904333e+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,
  2.39332379e+00, 1.10503777e+00, 3.71609511e+00,-3.87246409e+00,
  1.18483223e+02, 9.54606031e+01]

qfrc_actuator:
[ 2.37101560e-03, 2.74394097e-02, 8.68747332e-03, 1.67469119e-03,
  3.87518045e-06, 2.74294701e-02, 8.70205850e-03, 1.66842740e-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: -0.0018265689007596342
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03909429e-14, -3.03909429e-14,  1.00000000e+00,  9.23609413e-28,
        1.00000000e+00,  3.03909429e-14, -1.00000000e+00,  0.00000000e+00,
        3.03909429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076253, -0.04701784,  0.06182527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.34564806e-05, 7.17435819e-05,-2.36476478e-06, 2.17855668e-05,
  1.26136874e-05, 3.81610832e-05, 7.72768168e-05,-1.15295357e-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,
  1.25035243e-04, 3.13928246e-04,-4.90505065e+00,-6.60249667e-05,
  3.08025848e-02, 7.19020232e-03]


--- Step 2479 ---
qpos:
[-2.51245273e-03, 8.65834800e-01,-2.37661170e-02, 4.25881457e-04,
 -2.94517792e-03, 8.61867804e-01,-2.71130070e-02, 3.10461062e-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,
  7.20774334e-03,-4.28332224e-02, 7.93289403e-02, 7.00975867e-01,
 -8.46421406e-02,-7.02727258e-01,-8.74239316e-02]

qacc:
[ 9.98809664e-02,-7.79519060e-01, 2.40124456e+00, 2.65421723e-01,
 -3.83920558e-02,-4.34183594e-01, 2.52338055e+00,-5.40597287e+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,
  2.23315748e+00, 1.02466724e+00, 2.78090069e+00,-3.67285923e+00,
  1.10267936e+02, 8.87088169e+01]

qfrc_actuator:
[ 2.40989874e-03, 2.74545960e-02, 8.71878179e-03, 1.68654962e-03,
 -9.05075941e-06, 2.74198967e-02, 8.69903359e-03, 1.65858464e-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: -0.0018242183374410914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08602053e-14, -1.52150513e-14,  1.00000000e+00,  9.25991146e-28,
        1.00000000e+00,  1.52150513e-14, -1.00000000e+00,  0.00000000e+00,
        6.08602053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076406, -0.04701871,  0.0618255 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81681286e-05, 5.57170190e-05, 4.65798620e-05, 1.52720429e-05,
 -6.93447684e-06, 2.72006240e-05, 1.39642140e-05,-5.76128918e-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,
  2.01793270e-05,-9.95028556e-05,-4.90502030e+00,-1.11131256e-04,
  3.07999340e-02, 7.19158544e-03]


--- Step 2480 ---
qpos:
[-2.51204060e-03, 8.65835917e-01,-2.37651793e-02, 4.26606063e-04,
 -2.94540841e-03, 8.61869774e-01,-2.71131117e-02, 3.10554371e-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,
  7.20660768e-03,-4.28363842e-02, 7.93295525e-02, 7.00958511e-01,
 -8.45916357e-02,-7.02745005e-01,-8.74693017e-02]

qacc:
[ 7.72997983e-02,-1.75351328e+00, 6.30193391e+00,-8.99190829e+00,
 -6.14220833e-02, 4.36963076e+00,-1.67266643e+01, 2.75129436e+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,
 -3.25348597e+00, 1.56715089e+00,-3.72863012e+00, 4.95332993e+00,
 -2.01068682e+02, 5.04034146e+01]

qfrc_actuator:
[ 2.41525587e-03, 2.73919765e-02, 8.71925838e-03, 1.67543923e-03,
 -1.67164731e-05, 2.74667783e-02, 8.66134346e-03, 1.68812866e-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: -0.0018318016416744784
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51520639e-14, -1.51520639e-14,  1.00000000e+00,  2.29585042e-28,
        1.00000000e+00,  1.51520639e-14, -1.00000000e+00,  0.00000000e+00,
        1.51520639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04936903, -0.05869591,  0.06182493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40227945e-05,-2.12255576e-05, 1.82346073e-05,-6.81868267e-06,
 -1.09541807e-05, 6.46904983e-05,-3.05678499e-05, 3.10768862e-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,
  3.61492542e-04,-2.81629398e-04,-4.90501729e+00,-1.29852017e-04,
  3.07980778e-02, 7.19177348e-03]


--- Step 2481 ---
qpos:
[-2.51171324e-03, 8.65836615e-01,-2.37637451e-02, 4.26172454e-04,
 -2.94555368e-03, 8.61872249e-01,-2.71138712e-02, 3.10579694e-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,
  7.19341673e-03,-4.28337474e-02, 7.93134422e-02, 7.00688451e-01,
 -8.46328992e-02,-7.03016522e-01,-8.74113019e-02]

qacc:
[-4.40439812e-02,-4.32265767e+00, 1.95011166e+01,-4.00358483e+01,
  4.42488689e-02, 1.09566757e+00,-6.94936959e-02,-1.10192832e+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,
 -3.01382390e+00, 1.44964434e+00,-4.18062731e+00, 4.56861862e+00,
 -1.86120165e+02, 4.66885798e+01]

qfrc_actuator:
[ 2.40046459e-03, 2.73541119e-02, 8.73667462e-03, 1.61530215e-03,
 -3.40192669e-06, 2.74759647e-02, 8.62151350e-03, 1.65187883e-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: -0.0018304235687656503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51634715e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51634715e-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([ 0.04937168, -0.05869763,  0.06182506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.11063057e-06,-4.62936422e-05, 1.50253534e-05,-6.05524153e-05,
  8.12261625e-06, 4.03288572e-05,-2.91764676e-05,-3.39358253e-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,
  3.45960830e-06, 6.60582647e-06,-4.90500138e+00,-1.19137616e-04,
  3.07984375e-02, 7.19186961e-03]


--- Step 2482 ---
qpos:
[-2.51170583e-03, 8.65836986e-01,-2.37613273e-02, 4.25666833e-04,
 -2.94576100e-03, 8.61875253e-01,-2.71154000e-02, 3.10492864e-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,
  7.19000018e-03,-4.28264885e-02, 7.93128157e-02, 7.00602530e-01,
 -8.47931558e-02,-7.03103337e-01,-8.72462786e-02]

qacc:
[-1.67019326e-01,-3.32784386e+00, 1.15420657e+01,-1.41235668e+01,
 -3.34210678e-02, 5.39269265e-01, 3.82570674e+00,-2.23936883e+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,
  2.44360220e+00, 1.15551550e+00, 3.87095457e+00,-4.34940996e+00,
  1.19706516e+02, 9.51859827e+01]

qfrc_actuator:
[ 2.37375711e-03, 2.73668700e-02, 8.79951058e-03, 1.61559354e-03,
 -1.31588548e-05, 2.74979361e-02, 8.58055949e-03, 1.59493029e-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: -0.001827423378468765
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07534651e-14, -3.03767326e-14,  1.00000000e+00,  1.84549176e-27,
        1.00000000e+00,  3.03767326e-14, -1.00000000e+00,  0.00000000e+00,
        6.07534651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076178, -0.04702097,  0.06182523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05821788e-05,-1.26480016e-05, 5.30140856e-05,-2.35285230e-06,
 -5.89533525e-06, 3.69902144e-05,-3.74086139e-05,-5.68944950e-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,
  4.47394344e-04,-1.40395334e-04,-4.90501342e+00,-1.14904800e-04,
  3.07990973e-02, 7.19109318e-03]


--- Step 2483 ---
qpos:
[-2.51201676e-03, 8.65837305e-01,-2.37582449e-02, 4.24808235e-04,
 -2.94624453e-03, 8.61878716e-01,-2.71174760e-02, 3.10372372e-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,
  7.19567541e-03,-4.28149549e-02, 7.93238290e-02, 7.00687712e-01,
 -8.50643153e-02,-7.03018527e-01,-8.69812774e-02]

qacc:
[-1.66490338e-01,-2.64833057e+00, 1.08378637e+01,-1.79753516e+01,
 -1.45991091e-01, 1.43976670e+00,-2.83506685e+00,-2.45078686e+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,
  2.27294297e+00, 1.06869470e+00, 2.90995884e+00,-3.93454577e+00,
  1.11194879e+02, 8.87508161e+01]

qfrc_actuator:
[ 2.35792162e-03, 2.73745738e-02, 8.83565494e-03, 1.59826119e-03,
 -3.66454806e-05, 2.75273521e-02, 8.55706026e-03, 1.57953404e-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: -0.0018275612908424804
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03744402e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.03744402e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076185, -0.04702225,  0.06182522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04224754e-05, 1.14488100e-05, 3.99614347e-05,-1.60881180e-05,
 -2.62791956e-05, 3.98777477e-05,-2.24484910e-05,-1.62147649e-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,
  2.90478896e-05,-7.59061904e-05,-4.90500554e+00,-1.03798530e-04,
  3.07994510e-02, 7.19130263e-03]


--- Step 2484 ---
qpos:
[-2.51220420e-03, 8.65838003e-01,-2.37554474e-02, 4.23414011e-04,
 -2.94681668e-03, 8.61881564e-01,-2.71188464e-02, 3.10274013e-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,
  7.20988122e-03,-4.27994284e-02, 7.93432335e-02, 7.00933036e-01,
 -8.54396244e-02,-7.02772767e-01,-8.66220962e-02]

qacc:
[ 6.44059748e-02, 1.91746240e-01, 2.30070068e+00,-1.13917036e+01,
 -4.59948641e-02,-2.32520741e+00, 6.18026041e+00,-3.02964832e+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,
  2.13264480e+00, 9.98212654e-01, 2.09778103e+00,-3.57176309e+00,
  1.04143815e+02, 8.34151150e+01]

qfrc_actuator:
[ 2.38424097e-03, 2.73968509e-02, 8.82020458e-03, 1.57066438e-03,
 -3.26256931e-05, 2.74545785e-02, 8.57962467e-03, 1.58873286e-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: -0.0018101354873206535
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.06668488e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.06668488e-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([-0.0007746 , -0.04702688,  0.06182682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18115178e-05, 3.62096344e-05,-8.74408511e-06,-2.60398271e-05,
 -8.44929747e-06,-5.58735803e-05, 2.74642408e-05, 9.81460015e-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,
  8.56907837e-05, 1.86653386e-04,-4.90502375e+00,-6.74031133e-05,
  3.08005712e-02, 7.19021834e-03]


--- Step 2485 ---
qpos:
[-2.51253898e-03, 8.65838723e-01,-2.37524996e-02, 4.22751580e-04,
 -2.94740250e-03, 8.61883569e-01,-2.71197934e-02, 3.10296058e-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,
  7.21211952e-03,-4.27780106e-02, 7.93457699e-02, 7.00926183e-01,
 -8.59046322e-02,-7.02779781e-01,-8.61595055e-02]

qacc:
[-7.71193293e-02, 1.11634546e+00,-7.02555415e+00, 1.94333317e+01,
 -6.56784506e-03, 1.80720328e-01,-7.34531929e+00, 2.81271608e+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,
 -2.99187755e+00, 1.47283513e+00,-4.21700325e+00, 5.07527979e+00,
 -1.85502165e+02, 4.60401122e+01]

qfrc_actuator:
[ 2.36452820e-03, 2.73919589e-02, 8.82773893e-03, 1.60824325e-03,
 -2.99317890e-05, 2.73923910e-02, 8.59328811e-03, 1.64777069e-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: -0.0017850796269626573
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55486485e-14,  1.55486485e-14,  1.00000000e+00, -2.41760469e-28,
        1.00000000e+00, -1.55486485e-14, -1.00000000e+00,  0.00000000e+00,
        1.55486485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04945065, -0.05873783,  0.06182912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40789546e-05, 1.23997933e-05, 1.30089177e-05, 3.83171378e-05,
 -1.32432901e-06,-8.73950247e-05, 5.83761699e-06, 5.77853314e-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,
  5.28255547e-04, 6.11084946e-04,-4.90506399e+00,-9.41508163e-06,
  3.08021721e-02, 7.18805516e-03]


--- Step 2486 ---
qpos:
[-2.51306548e-03, 8.65839561e-01,-2.37497353e-02, 4.21864821e-04,
 -2.94816188e-03, 8.61885147e-01,-2.71212395e-02, 3.10389756e-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,
  7.22254618e-03,-4.27531598e-02, 7.93591255e-02, 7.01073795e-01,
 -8.64588559e-02,-7.02630950e-01,-8.56162887e-02]

qacc:
[-1.00689979e-01, 2.06245053e-01, 4.36727221e-01,-4.11154178e+00,
 -9.15246946e-02, 2.30485109e+00,-1.20607149e+01, 2.55756591e+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,
  2.04709115e+00, 8.58251913e-01, 2.70478060e+00,-3.01483704e+00,
  1.01588486e+02, 7.29541827e+01]

qfrc_actuator:
[ 2.35292285e-03, 2.73887218e-02, 8.81323753e-03, 1.59511121e-03,
 -4.58255402e-05, 2.73725360e-02, 8.56610572e-03, 1.68238278e-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: -0.001769557754748747
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.24934240e-07, -1.04986857e-06,  1.00000000e+00,  5.51111963e-13,
        1.00000000e+00,  1.04986857e-06, -1.00000000e+00,  1.00974196e-28,
        5.24934240e-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([ 0.000526  , -0.04602174,  0.0618305 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83212557e-05, 7.98460155e-06,-9.03891605e-06,-1.14090602e-05,
 -1.65341416e-05,-6.50842223e-05,-4.25210643e-05, 3.21932048e-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,
  1.38814779e-05, 1.27172870e-04,-4.90505607e+00,-1.32430840e-05,
  3.08008741e-02, 7.18760551e-03]


--- Step 2487 ---
qpos:
[-2.51338140e-03, 8.65840658e-01,-2.37475295e-02, 4.21181382e-04,
 -2.94909957e-03, 8.61886295e-01,-2.71227203e-02, 3.10486522e-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,
  7.21860544e-03,-4.27319671e-02, 7.93540827e-02, 7.00947350e-01,
 -8.68808529e-02,-7.02752853e-01,-8.52229869e-02]

qacc:
[ 1.09971155e-01, 2.31885896e+00,-8.63253284e+00, 1.28571692e+01,
 -9.37755579e-02,-4.08589497e-01, 5.02178145e-01, 4.00327302e-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,
 -3.59184989e+00,-9.14549451e-01,-4.59957742e+00,-6.57478041e+00,
 -1.79041462e+02,-1.22439552e+02]

qfrc_actuator:
[ 2.38179054e-03, 2.74041265e-02, 8.78578850e-03, 1.60547392e-03,
 -5.49539108e-05, 2.73602470e-02, 8.56842683e-03, 1.68459270e-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: -0.0017748186443706654
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12770837e-14, -3.12770837e-14,  1.00000000e+00,  9.78255963e-28,
        1.00000000e+00,  3.12770837e-14, -1.00000000e+00,  0.00000000e+00,
        3.12770837e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05531215, -0.03484388,  0.06183012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01293147e-05, 1.74726211e-05,-2.73347440e-05, 1.01660484e-05,
 -1.69850454e-05,-5.61148997e-05,-1.52474813e-05,-1.42462400e-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,
  2.85244253e-04, 6.99431677e-04,-4.90509864e+00, 6.66107459e-05,
  3.08029990e-02, 7.18503254e-03]


--- Step 2488 ---
qpos:
[-2.51360151e-03, 8.65842031e-01,-2.37454208e-02, 4.20247233e-04,
 -2.94980112e-03, 8.61886093e-01,-2.71234882e-02, 3.10626411e-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,
  7.21773824e-03,-4.27259377e-02, 7.93540289e-02, 7.00914385e-01,
 -8.69983288e-02,-7.02783796e-01,-8.51190455e-02]

qacc:
[ 5.00650678e-02, 1.20569211e-01, 1.15914870e+00,-5.54618877e+00,
  1.25317023e-01,-2.88518187e+00, 5.88000177e+00, 1.43254522e+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,
  7.68385514e-01,-3.79079811e+00, 1.24723724e+00, 5.23707194e+00,
  9.02711817e+01,-2.00480171e+02]

qfrc_actuator:
[ 2.38135854e-03, 2.74305286e-02, 8.78652455e-03, 1.59409029e-03,
 -2.44436074e-05, 2.72461570e-02, 8.58818519e-03, 1.70326580e-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: -0.001805042861702938
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07533701e-14,  3.07533701e-14,  1.00000000e+00, -9.45769775e-28,
        1.00000000e+00, -3.07533701e-14, -1.00000000e+00,  0.00000000e+00,
        3.07533701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00671502, -0.02202125,  0.06182744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16492540e-06, 3.09232634e-05, 1.30394977e-06,-1.13875452e-05,
  2.24408248e-05,-1.48697503e-04, 6.24263564e-06, 1.57130686e-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,
  4.08570429e-05,-2.15936242e-04,-4.90508341e+00, 5.45820858e-05,
  3.08058905e-02, 7.18587227e-03]


--- Step 2489 ---
qpos:
[-2.51377856e-03, 8.65844428e-01,-2.37438953e-02, 4.17739192e-04,
 -2.95019672e-03, 8.61884423e-01,-2.71241070e-02, 3.10758620e-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,
  7.21973153e-03,-4.27339523e-02, 7.93557138e-02, 7.00968025e-01,
 -8.68338857e-02,-7.02730749e-01,-8.52830489e-02]

qacc:
[ 2.17646210e-02,-2.57914142e-01, 9.52585910e+00,-3.65832506e+01,
  1.61737383e-01,-2.51129122e+00, 6.46716168e+00,-6.95910081e+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,
  7.15121196e-01,-3.51100442e+00, 4.34661510e-01, 4.83957411e+00,
  8.35215942e+01,-1.85627783e+02]

qfrc_actuator:
[ 2.38112990e-03, 2.75166649e-02, 8.76842824e-03, 1.51677368e-03,
 -5.99848743e-06, 2.71430888e-02, 8.58216708e-03, 1.69589874e-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: -0.0018124520321845944
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06276526e-14, -3.06276526e-14,  1.00000000e+00,  9.38053105e-28,
        1.00000000e+00,  3.06276526e-14, -1.00000000e+00,  0.00000000e+00,
        3.06276526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00671792, -0.02202819,  0.0618268 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14124193e-06, 1.03163411e-04,-1.19690223e-05,-7.61724545e-05,
  2.90790217e-05,-1.84242357e-04,-3.54096316e-05,-1.32160072e-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,
  2.84581910e-06,-1.46037828e-05,-4.90500824e+00, 9.05390600e-05,
  3.08003636e-02, 7.18385434e-03]


--- Step 2490 ---
qpos:
[-2.51393600e-03, 8.65847508e-01,-2.37431812e-02, 4.15765012e-04,
 -2.95070437e-03, 8.61882188e-01,-2.71248517e-02, 3.10802237e-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,
  7.22440492e-03,-4.27550773e-02, 7.93563664e-02, 7.01102227e-01,
 -8.64063578e-02,-7.02599179e-01,-8.56971561e-02]

qacc:
[ 9.56539174e-03, 4.26585817e+00,-1.61561727e+01, 2.61947838e+01,
 -5.89376054e-02,-2.21765218e+00, 1.05634214e+01,-2.52809477e+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,
  6.70025090e-01,-3.27761138e+00,-2.58044124e-01, 4.47859756e+00,
  7.79048520e+01,-1.73251783e+02]

qfrc_actuator:
[ 2.38103770e-03, 2.75312680e-02, 8.72180498e-03, 1.54334179e-03,
 -3.04620054e-05, 2.71715588e-02, 8.59646679e-03, 1.65549048e-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: -0.0017997892076040967
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.08431404e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.08431404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00671401, -0.02201511,  0.06182791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89068501e-06, 6.64909719e-05,-2.94546114e-05, 2.90881484e-05,
 -1.06818574e-05,-8.23865848e-05,-2.85555454e-05,-4.97826178e-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,
  7.55643991e-06,-3.87656387e-05,-4.90500754e+00, 7.26794347e-05,
  3.07996264e-02, 7.18432023e-03]


--- Step 2491 ---
qpos:
[-2.51426969e-03, 8.65850347e-01,-2.37426544e-02, 4.14546344e-04,
 -2.95123026e-03, 8.61880105e-01,-2.71261193e-02, 3.10790423e-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,
  7.21581870e-03,-4.27797851e-02, 7.93368577e-02, 7.00986122e-01,
 -8.58628197e-02,-7.02714221e-01,-8.62482277e-02]

qacc:
[-9.24059476e-02, 1.75956470e+00,-9.92559907e+00, 2.34787680e+01,
 -1.00248172e-02, 5.19164889e-01, 7.78340172e-01,-9.64565479e+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,
 -3.31490293e+00,-8.95707228e-01,-5.04035212e+00,-7.69510080e+00,
 -1.63495311e+02,-1.10147201e+02]

qfrc_actuator:
[ 2.36328095e-03, 2.74673774e-02, 8.69403213e-03, 1.57750464e-03,
 -2.71171994e-05, 2.72253795e-02, 8.58766746e-03, 1.63160262e-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: -0.0017790645157167995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.12024386e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.12024386e-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([ 0.0553042 , -0.03484601,  0.06182972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68537486e-05,-3.16224634e-05,-1.66891496e-05, 3.65551539e-05,
 -1.73492571e-06,-2.20485078e-07,-3.10325729e-05,-2.93704894e-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,
  4.63982708e-05,-2.43509731e-04,-4.90506680e+00, 8.33787622e-06,
  3.08026354e-02, 7.18688806e-03]


--- Step 2492 ---
qpos:
[-2.51405346e-03, 8.65852980e-01,-2.37427047e-02, 4.13770620e-04,
 -2.95118199e-03, 8.61878622e-01,-2.71281512e-02, 3.10883933e-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,
  7.19431789e-03,-4.27984023e-02, 7.93022210e-02, 7.00597816e-01,
 -8.54214773e-02,-7.03101089e-01,-8.66875467e-02]

qacc:
[ 2.88053651e-01, 2.24955669e+00,-1.02890377e+01, 1.90326163e+01,
  3.01745402e-01, 5.09184627e+00,-2.14542344e+01, 4.04700538e+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,
 -3.22864559e+00, 1.52268490e+00,-3.78198428e+00, 3.48243255e+00,
 -2.00117034e+02, 5.16675201e+01]

qfrc_actuator:
[ 2.42387667e-03, 2.74458047e-02, 8.65951748e-03, 1.59803651e-03,
  2.83688823e-05, 2.72939197e-02, 8.56545606e-03, 1.68866026e-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: -0.0017856855899492097
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.55433721e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.55433721e-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([ 0.04944796, -0.05873942,  0.06182901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.25489944e-05,-4.12073470e-05,-4.18607459e-05, 1.93082542e-05,
  5.46633260e-05, 6.08096980e-05,-2.70702869e-05, 5.54077188e-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,
  2.02515754e-04, 5.92131851e-04,-4.90506321e+00, 4.99854055e-06,
  3.07983156e-02, 7.18754439e-03]


--- Step 2493 ---
qpos:
[-2.51301310e-03, 8.65854846e-01,-2.37429663e-02, 4.13985027e-04,
 -2.95051529e-03, 8.61877742e-01,-2.71299847e-02, 3.11072712e-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,
  7.18345391e-03,-4.28122706e-02, 7.92881694e-02, 7.00410774e-01,
 -8.51126398e-02,-7.03285657e-01,-8.70050059e-02]

qacc:
[ 4.32265551e-01, 1.61629750e+00,-1.14107360e+01, 2.94482953e+01,
  3.25670052e-01, 2.20339095e+00,-1.07214616e+01, 2.64510327e+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,
  2.65920428e+00, 1.18718728e+00, 5.14626082e+00,-3.74869657e+00,
  1.30671882e+02, 1.06633399e+02]

qfrc_actuator:
[ 2.47757028e-03, 2.73786746e-02, 8.63917517e-03, 1.64590542e-03,
  6.12967296e-05, 2.73530296e-02, 8.58890575e-03, 1.73964150e-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: -0.0018286082089517958
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03570502e-14,  3.03570502e-14,  1.00000000e+00, -9.21550498e-28,
        1.00000000e+00, -3.03570502e-14, -1.00000000e+00,  0.00000000e+00,
        3.03570502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075998, -0.04702206,  0.06182503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.87407204e-05,-9.80458943e-05,-3.33618910e-05, 4.50272029e-05,
  5.88833872e-05, 8.99529720e-05, 3.46165870e-05, 5.37308922e-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,
  1.22250474e-03, 1.08722950e-03,-4.90508219e+00, 2.50371518e-05,
  3.08005388e-02, 7.18896932e-03]


--- Step 2494 ---
qpos:
[-2.51162380e-03, 8.65856123e-01,-2.37435007e-02, 4.14408195e-04,
 -2.94991353e-03, 8.61876899e-01,-2.71312396e-02, 3.11291215e-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,
  7.18239245e-03,-4.28217626e-02, 7.92900684e-02, 7.00409287e-01,
 -8.49256424e-02,-7.03284260e-01,-8.72107532e-02]

qacc:
[ 1.82991786e-01, 4.12018063e-01,-3.48176219e+00, 7.96520770e+00,
 -3.38326946e-02,-9.56314255e-01, 2.22485093e+00, 1.96610627e+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,
  2.45063288e+00, 1.09409361e+00, 3.98766856e+00,-3.57978634e+00,
  1.20320043e+02, 9.79524271e+01]

qfrc_actuator:
[ 2.47337056e-03, 2.73558617e-02, 8.62720113e-03, 1.65619429e-03,
  2.71577966e-05, 2.73174743e-02, 8.60359001e-03, 1.75115088e-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: -0.0018522910796611447
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99378271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.99378271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074293, -0.04701674,  0.06182288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33308535e-05,-8.26348939e-05,-3.47900942e-05, 5.80664090e-06,
 -6.17743753e-06, 2.42352252e-05, 3.94045758e-05, 1.76072009e-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,
  3.13058214e-04, 4.05867535e-04,-4.90502222e+00,-4.88605932e-05,
  3.07992460e-02, 7.19059746e-03]


--- Step 2495 ---
qpos:
[-2.51010276e-03, 8.65857721e-01,-2.37446038e-02, 4.14508375e-04,
 -2.94955988e-03, 8.61876026e-01,-2.71321285e-02, 3.11420666e-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,
  7.19044586e-03,-4.28271860e-02, 7.93039986e-02, 7.00580172e-01,
 -8.48516118e-02,-7.03110266e-01,-8.73131175e-02]

qacc:
[ 6.85791805e-02, 1.34788193e+00,-2.82755120e+00,-2.08689100e+00,
 -1.30481108e-01,-2.89165355e+00, 1.40157264e+01,-2.99954972e+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,
  2.27871707e+00, 1.01715529e+00, 3.00778807e+00,-3.41448483e+00,
  1.11742430e+02, 9.07744168e+01]

qfrc_actuator:
[ 2.47008564e-03, 2.74307803e-02, 8.62039409e-03, 1.64432046e-03,
  6.47269960e-06, 2.72964571e-02, 8.61255529e-03, 1.70374625e-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: -0.0018535584282883058
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99484227e-14,  2.99484227e-14,  1.00000000e+00, -8.96908020e-28,
        1.00000000e+00, -2.99484227e-14, -1.00000000e+00,  0.00000000e+00,
        2.99484227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007422 , -0.04701619,  0.06182279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25964891e-05, 2.17486579e-05,-2.79668253e-05,-1.65071718e-05,
 -2.36152937e-05, 1.45283733e-06, 1.94483488e-05,-4.46598797e-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,
  3.38641769e-06, 2.65252804e-05,-4.90499722e+00,-8.95246347e-05,
  3.07987334e-02, 7.19096977e-03]


--- Step 2496 ---
qpos:
[-2.50891827e-03, 8.65859693e-01,-2.37461951e-02, 4.14451631e-04,
 -2.94926801e-03, 8.61875793e-01,-2.71328852e-02, 3.11450797e-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,
  7.20704938e-03,-4.28287942e-02, 7.93266484e-02, 7.00912358e-01,
 -8.48831574e-02,-7.02774587e-01,-8.73189328e-02]

qacc:
[-1.76891773e-01, 1.53353175e+00,-4.08992312e+00, 1.88166213e+00,
 -3.27333419e-02,-1.56806207e+00, 1.10105466e+01,-2.88832962e+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,
  2.13752653e+00, 9.53794376e-01, 2.17989581e+00,-3.25523713e+00,
  1.04636778e+02, 8.48374464e+01]

qfrc_actuator:
[ 2.43192197e-03, 2.74571468e-02, 8.59933981e-03, 1.63734988e-03,
  1.18216863e-05, 2.73729764e-02, 8.63582309e-03, 1.65756736e-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: -0.0018368053515058283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02215753e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.02215753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075449, -0.04701943,  0.06182434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21565045e-05, 3.20136906e-05,-2.05846172e-05,-7.32948105e-06,
 -5.86045625e-06, 7.94582621e-05, 2.44306224e-05,-4.63117691e-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,
  1.68506008e-04,-1.13940345e-04,-4.90499909e+00,-1.02736610e-04,
  3.07988387e-02, 7.19025406e-03]


--- Step 2497 ---
qpos:
[-2.50813649e-03, 8.65861034e-01,-2.37470368e-02, 4.14009979e-04,
 -2.94915907e-03, 8.61876082e-01,-2.71333999e-02, 3.11495047e-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,
  7.21084554e-03,-4.28240747e-02, 7.93341134e-02, 7.00974011e-01,
 -8.50101412e-02,-7.02710771e-01,-8.72140141e-02]

qacc:
[-2.10460620e-01,-3.71787679e+00, 1.36740748e+01,-2.10745965e+01,
 -9.63627603e-02, 3.05000381e-01,-6.81685466e-01, 2.35411397e+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,
 -3.20183936e+00, 1.58191762e+00,-3.79620859e+00, 5.85112991e+00,
 -1.99203789e+02, 4.89935602e+01]

qfrc_actuator:
[ 2.40875190e-03, 2.73831906e-02, 8.62314191e-03, 1.61553176e-03,
 -2.80123666e-06, 2.74008452e-02, 8.65000707e-03, 1.66584068e-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: -0.001820960636680885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04845421e-14, -7.62113553e-15,  1.00000000e+00,  2.32326827e-28,
        1.00000000e+00,  7.62113553e-15, -1.00000000e+00,  0.00000000e+00,
        3.04845421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04938516, -0.05871658,  0.06182586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85022906e-05,-6.06607519e-05, 2.76208986e-05,-2.13020423e-05,
 -1.73946868e-05, 7.53719389e-05, 3.20087661e-05, 1.16223983e-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,
  7.18012130e-04,-6.14695771e-05,-4.90502338e+00,-9.27520048e-05,
  3.07994049e-02, 7.18858012e-03]


--- Step 2498 ---
qpos:
[-2.50750708e-03, 8.65861173e-01,-2.37464201e-02, 4.13681110e-04,
 -2.94922825e-03, 8.61876271e-01,-2.71337102e-02, 3.11557191e-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,
  7.20275136e-03,-4.28135080e-02, 7.93246321e-02, 7.00785044e-01,
 -8.52261629e-02,-7.02898785e-01,-8.70064425e-02]

qacc:
[-7.85403530e-02,-5.42838934e+00, 1.65758262e+01,-1.60777255e+01,
 -9.36345702e-02,-3.34836424e-01, 2.46377743e-01, 2.59698767e+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,
 -2.97258671e+00, 1.46180930e+00,-4.23654753e+00, 5.18999129e+00,
 -1.84565979e+02, 4.56296841e+01]

qfrc_actuator:
[ 2.41253140e-03, 2.73031534e-02, 8.69056793e-03, 1.62060112e-03,
 -1.15088128e-05, 2.73461268e-02, 8.64082556e-03, 1.67054296e-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: -0.0018180599324349386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05331800e-14, -1.52665900e-14,  1.00000000e+00,  4.66137542e-28,
        1.00000000e+00,  1.52665900e-14, -1.00000000e+00,  0.00000000e+00,
        3.05331800e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04939062, -0.05872114,  0.06182617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45895116e-05,-1.09196399e-04, 5.75600307e-05, 3.01251760e-06,
 -1.69560089e-05,-5.46932778e-06, 1.07321492e-05, 9.26510612e-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,
  3.79315935e-05, 5.16073843e-05,-4.90501187e+00,-8.70814704e-05,
  3.07997734e-02, 7.19045510e-03]


--- Step 2499 ---
qpos:
[-2.50730003e-03, 8.65861202e-01,-2.37456754e-02, 4.13711993e-04,
 -2.94906243e-03, 8.61876429e-01,-2.71343449e-02, 3.11592885e-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,
  7.20407203e-03,-4.27985798e-02, 7.93284382e-02, 7.00772848e-01,
 -8.55573478e-02,-7.02909249e-01,-8.66945410e-02]

qacc:
[-2.21303159e-01, 2.39658320e-01,-2.58091252e+00, 8.68168647e+00,
  1.23555820e-01, 3.20899250e-01,-8.63693483e-02,-3.94967782e+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,
  2.35371619e+00, 1.09036250e+00, 3.32183643e+00,-3.87692156e+00,
  1.14882134e+02, 9.22863815e+01]

qfrc_actuator:
[ 2.37913350e-03, 2.73445607e-02, 8.71214924e-03, 1.64145924e-03,
  1.89064510e-05, 2.73310333e-02, 8.61756555e-03, 1.65525575e-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: -0.0018055546729114497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.6116979e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.6116979e-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([-0.00077747, -0.04702689,  0.06182721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03695517e-05,-7.64695828e-06, 6.21889093e-06, 1.82307719e-05,
  2.23654268e-05,-1.55436167e-05,-2.27463326e-05,-1.49702026e-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,
  1.71726844e-04,-2.47490713e-04,-4.90502579e+00,-8.61317651e-05,
  3.08003346e-02, 7.19099049e-03]


--- Step 2500 ---
qpos:
[-2.50787387e-03, 8.65861489e-01,-2.37450903e-02, 4.12928412e-04,
 -2.94859556e-03, 8.61876642e-01,-2.71347519e-02, 3.11605070e-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,
  7.21419124e-03,-4.27795809e-02, 7.93420323e-02, 7.00925548e-01,
 -8.59963357e-02,-7.02753833e-01,-8.62847445e-02]

qacc:
[-4.09637477e-01,-8.90710647e-01, 7.10720262e+00,-2.11371717e+01,
  1.58659837e-01,-1.04724383e+00, 4.83147222e+00,-9.30541979e+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,
  2.19963139e+00, 1.01767883e+00, 2.44700078e+00,-3.50349115e+00,
  1.07215404e+02, 8.64330343e+01]

qfrc_actuator:
[ 2.32376009e-03, 2.73694585e-02, 8.70697070e-03, 1.60048802e-03,
  3.69482786e-05, 2.73574373e-02, 8.63956325e-03, 1.64609936e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017968300679544885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.08939349e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.08939349e-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([-0.0007839 , -0.04702938,  0.061828  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.46251300e-05, 2.26750834e-05,-5.36646086e-06,-4.07293370e-05,
  2.86571273e-05, 1.23768428e-05, 1.54697461e-05,-1.09010998e-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,
  5.59145675e-06, 4.77570139e-05,-4.90504509e+00,-4.64264444e-05,
  3.08028439e-02, 7.18933307e-03]


--- Step 2501 ---
qpos:
[-2.50897456e-03, 8.65861803e-01,-2.37451139e-02, 4.12757231e-04,
 -2.94806239e-03, 8.61876809e-01,-2.71349205e-02, 3.11710927e-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,
  7.23208000e-03,-4.27574202e-02, 7.93639531e-02, 7.01225078e-01,
 -8.65205486e-02,-7.02450296e-01,-8.57972423e-02]

qacc:
[-2.76577624e-01, 2.99553458e+00,-1.32150485e+01, 2.47693889e+01,
  3.51344992e-02, 1.20080352e+00,-8.32453604e+00, 2.41900512e+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,
  1.94239028e+00, 7.90444509e-01, 2.08167685e+00,-2.64098650e+00,
  9.64853227e+01, 6.98825349e+01]

qfrc_actuator:
[ 2.30898675e-03, 2.73486228e-02, 8.66822004e-03, 1.62996529e-03,
  2.96533676e-05, 2.73554092e-02, 8.65278802e-03, 1.69395572e-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([ 8.63636364,  5.40767417, -6.73378326,  5.40767417, 41.54875899,
       26.43083438, -6.73378326, 26.43083438, 29.86207506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017732433908288182
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.14415155e-07, -1.02883037e-06,  1.00000000e+00,  5.29245935e-13,
        1.00000000e+00,  1.02883037e-06, -1.00000000e+00,  1.00974196e-28,
        5.14415155e-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([ 0.00052913, -0.0460197 ,  0.06183014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.03551283e-05,-1.10273349e-05,-3.61426378e-05, 2.94710930e-05,
  6.30989169e-06, 7.62218410e-06, 1.73106262e-05, 4.87094915e-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,
  2.64882678e-04, 5.14483247e-04,-4.90508774e+00, 1.62959205e-05,
  3.08057418e-02, 7.18659293e-03]


--- Step 2502 ---
qpos:
[-2.51003985e-03, 8.65862356e-01,-2.37460292e-02, 4.13623876e-04,
 -2.94754637e-03, 8.61876916e-01,-2.71354991e-02, 3.11981594e-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,
  7.23502017e-03,-4.27389609e-02, 7.93682595e-02, 7.01241266e-01,
 -8.69058260e-02,-7.02427106e-01,-8.54647561e-02]

qacc:
[ 1.79627881e-02, 4.94192354e+00,-2.15443517e+01, 4.07597687e+01,
 -9.16844791e-03, 4.45654788e+00,-2.29636857e+01, 5.21919359e+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,
 -3.73715005e+00,-9.25323499e-01,-4.40361696e+00,-5.96399012e+00,
 -1.85144013e+02,-1.27431112e+02]

qfrc_actuator:
[ 2.33638439e-03, 2.73714851e-02, 8.62759163e-03, 1.68285795e-03,
  2.50233803e-05, 2.73364007e-02, 8.62514205e-03, 1.77494198e-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: -0.0017911744532651472
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09914822e-14,  3.09914822e-14,  1.00000000e+00, -9.60471971e-28,
        1.00000000e+00, -3.09914822e-14, -1.00000000e+00,  0.00000000e+00,
        3.09914822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0552844 , -0.03486701,  0.0618287 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38430336e-06, 1.04829621e-05,-4.63393299e-05, 5.17437608e-05,
 -1.63474791e-06,-9.08818844e-06,-2.22546875e-05, 8.28583721e-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,
  8.27907728e-04, 1.05994728e-03,-4.90514188e+00, 9.43749542e-05,
  3.08080973e-02, 7.18315629e-03]


--- Step 2503 ---
qpos:
[-2.51072631e-03, 8.65862933e-01,-2.37464739e-02, 4.13668847e-04,
 -2.94706976e-03, 8.61876958e-01,-2.71357649e-02, 3.12238691e-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,
  7.22417026e-03,-4.27239448e-02, 7.93532793e-02, 7.00996473e-01,
 -8.71640423e-02,-7.02662455e-01,-8.52751315e-02]

qacc:
[ 1.98864898e-01,-2.97427020e+00, 1.41187384e+01,-2.91107656e+01,
 -2.05463528e-02,-1.23903085e+00, 4.86584597e+00,-7.66823436e+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,
 -3.44751744e+00,-8.60820509e-01,-4.82162683e+00,-5.91710138e+00,
 -1.70671882e+02,-1.17102448e+02]

qfrc_actuator:
[ 2.37098049e-03, 2.73848374e-02, 8.65737362e-03, 1.64261366e-03,
  2.20492565e-05, 2.73427407e-02, 8.64453725e-03, 1.76820431e-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([ 8.63636364, -7.79149533,  3.72550364, -7.79149533, 20.59971737,
       25.02008424,  3.72550364, 25.02008424, 60.96321355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018047949702403518
  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([ 0.05525834, -0.03487484,  0.06182754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62103705e-05, 1.18555951e-05, 2.80310527e-05,-4.03924912e-05,
 -3.75219075e-06, 2.09099019e-07, 1.76437513e-05,-6.28778940e-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,
  3.06023882e-05, 1.31514836e-04,-4.90509307e+00, 6.69939659e-05,
  3.08079459e-02, 7.18473902e-03]


--- Step 2504 ---
qpos:
[-2.51064287e-03, 8.65863228e-01,-2.37461182e-02, 4.12901944e-04,
 -2.94663238e-03, 8.61876969e-01,-2.71354843e-02, 3.12414549e-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,
  7.21628539e-03,-4.27244770e-02, 7.93435070e-02, 7.00846306e-01,
 -8.71182828e-02,-7.02806123e-01,-8.53722026e-02]

qacc:
[ 4.04201694e-01,-4.27710987e+00, 1.81399534e+01,-3.32674509e+01,
 -2.03542341e-02,-3.23650630e+00, 1.49131480e+01,-2.98286838e+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,
  7.41257556e-01,-3.88708076e+00, 1.30197471e+00, 6.03282824e+00,
  9.08347339e+01,-1.99252243e+02]

qfrc_actuator:
[ 2.42729069e-03, 2.73570990e-02, 8.69289102e-03, 1.60118948e-03,
  2.00977896e-05, 2.73465673e-02, 8.67384558e-03, 1.72770948e-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: -0.0018123710537450571
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.06290211e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.06290211e-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([ 0.00672888, -0.02202575,  0.06182678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.35776160e-05,-1.70544101e-05, 4.00203148e-05,-4.07331460e-05,
 -3.73271463e-06, 7.31477589e-06, 3.13056828e-05,-4.00011125e-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,
  3.02126694e-04,-3.46768022e-04,-4.90508112e+00, 6.98434595e-05,
  3.08060705e-02, 7.18897834e-03]


--- Step 2505 ---
qpos:
[-2.50947251e-03, 8.65863564e-01,-2.37465595e-02, 4.12060274e-04,
 -2.94641396e-03, 8.61876684e-01,-2.71347283e-02, 3.12578981e-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,
  7.21117034e-03,-4.27393546e-02, 7.93356341e-02, 7.00783383e-01,
 -8.67909245e-02,-7.02865177e-01,-8.57352244e-02]

qacc:
[ 5.69337338e-01, 2.12446623e+00,-7.18415294e+00, 7.13854324e+00,
 -1.14908601e-01,-1.95316576e+00, 6.87929242e+00,-9.40158649e+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,
  6.92455984e-01,-3.58632564e+00, 4.74844179e-01, 5.41116633e+00,
  8.39138048e+01,-1.84740121e+02]

qfrc_actuator:
[ 2.49608677e-03, 2.73405063e-02, 8.64256836e-03, 1.59488148e-03,
  1.02287193e-06, 2.73133718e-02, 8.69099045e-03, 1.72094921e-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: -0.0018192471915911904
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05132538e-14,  3.05132538e-14,  1.00000000e+00, -9.31058656e-28,
        1.00000000e+00, -3.05132538e-14, -1.00000000e+00,  0.00000000e+00,
        3.05132538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00673265, -0.02203111,  0.06182613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03878199e-04,-1.96084739e-05,-5.03291104e-05,-6.44726288e-06,
 -2.08457208e-05,-2.43590717e-05, 2.11232838e-05,-6.14507755e-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,
  1.57111337e-04, 5.34009308e-05,-4.90499719e+00, 9.21403091e-05,
  3.07975862e-02, 7.18572309e-03]


--- Step 2506 ---
qpos:
[-2.50754957e-03, 8.65864533e-01,-2.37485077e-02, 4.11813700e-04,
 -2.94660578e-03, 8.61876142e-01,-2.71331632e-02, 3.12696664e-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,
  7.20865793e-03,-4.27675751e-02, 7.93268388e-02, 7.00801227e-01,
 -8.62006312e-02,-7.02845152e-01,-8.63468760e-02]

qacc:
[ 3.93422733e-01, 6.26726552e+00,-2.36486591e+01, 3.58988971e+01,
 -2.15485943e-01,-3.55859775e+00, 1.41727411e+01,-2.33736133e+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,
  6.50661358e-01,-3.33575203e+00,-2.30607469e-01, 4.86876204e+00,
  7.81533900e+01,-1.72627853e+02]

qfrc_actuator:
[ 2.51849148e-03, 2.74014027e-02, 8.57752430e-03, 1.62698348e-03,
 -2.81307147e-05, 2.73114992e-02, 8.73619509e-03, 1.69855125e-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: -0.0018059466427176457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07379797e-14,  3.07379797e-14,  1.00000000e+00, -9.44823396e-28,
        1.00000000e+00, -3.07379797e-14, -1.00000000e+00,  0.00000000e+00,
        3.07379797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672942, -0.0220167 ,  0.06182724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.19362853e-05, 3.92680601e-05,-7.55176385e-05, 2.93943681e-05,
 -3.90520763e-05,-1.13985524e-05, 4.25578294e-05,-2.28328637e-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,
  6.51067216e-05, 2.11079070e-04,-4.90499113e+00, 6.06304371e-05,
  3.07945273e-02, 7.18523000e-03]


--- Step 2507 ---
qpos:
[-2.50551125e-03, 8.65865128e-01,-2.37492057e-02, 4.11545300e-04,
 -2.94698636e-03, 8.61875787e-01,-2.71308976e-02, 3.12677958e-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,
  7.21485794e-03,-4.27926714e-02, 7.93334917e-02, 7.00985181e-01,
 -8.57061853e-02,-7.02657779e-01,-8.68692816e-02]

qacc:
[ 6.14103685e-02,-4.02789979e+00, 1.37413514e+01,-1.58486530e+01,
 -9.91037785e-02,-4.51447394e+00, 2.22150887e+01,-4.70834233e+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,
  2.17810389e+00, 7.81077669e-01, 3.86205889e+00,-2.28766078e+00,
  1.09028710e+02, 7.93390741e+01]

qfrc_actuator:
[ 2.49520832e-03, 2.73839156e-02, 8.64669701e-03, 1.62823362e-03,
 -2.75473512e-05, 2.73462517e-02, 8.77995898e-03, 1.63166433e-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: -0.0017899070186511157
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10134273e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.10134273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00077811, -0.04582387,  0.06182857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10237772e-05,-9.86924147e-06, 6.90020794e-05, 8.91303935e-07,
 -1.79559851e-05, 3.61837986e-05, 4.58536849e-05,-6.63494252e-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,
  1.51793440e-05, 1.75093661e-04,-4.90504651e+00,-1.73515711e-05,
  3.07955544e-02, 7.18702132e-03]


--- Step 2508 ---
qpos:
[-2.50375903e-03, 8.65865096e-01,-2.37482589e-02, 4.10262867e-04,
 -2.94745019e-03, 8.61876184e-01,-2.71285852e-02, 3.12438282e-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,
  7.20772859e-03,-4.28113175e-02, 7.93259384e-02, 7.00886859e-01,
 -8.53146842e-02,-7.02753106e-01,-8.72759258e-02]

qacc:
[-1.48797909e-01,-7.50879185e+00, 2.98527186e+01,-4.95779407e+01,
 -4.42153883e-02,-3.68230532e+00, 2.39022901e+01,-6.27775131e+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,
 -3.33234122e+00, 1.61251509e+00,-3.55156610e+00, 4.77160855e+00,
 -2.07687616e+02, 5.23659506e+01]

qfrc_actuator:
[ 2.46260123e-03, 2.73379034e-02, 8.72323499e-03, 1.57584626e-03,
 -2.69318570e-05, 2.74026387e-02, 8.78713809e-03, 1.52141482e-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: -0.0018057330562881724
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61124232e-14, -6.91686348e-14,  1.00000000e+00,  3.18953336e-27,
        1.00000000e+00,  6.91686348e-14, -1.00000000e+00,  0.00000000e+00,
        4.61124232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04940262, -0.05874545,  0.06182723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73533603e-05,-3.72527058e-05, 8.30313722e-05,-5.04044641e-05,
 -7.90321456e-06, 8.32364368e-05, 1.79905400e-05,-1.08406262e-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,
  1.02206052e-04,-4.43504389e-04,-4.90502413e+00,-9.29909086e-05,
  3.07941539e-02, 7.18812307e-03]


--- Step 2509 ---
qpos:
[-2.50235366e-03, 8.65865520e-01,-2.37484475e-02, 4.08416888e-04,
 -2.94794699e-03, 8.61876637e-01,-2.71262898e-02, 3.12215939e-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,
  7.18827792e-03,-4.28240130e-02, 7.93022671e-02, 7.00528040e-01,
 -8.50180352e-02,-7.03109436e-01,-8.75757927e-02]

qacc:
[-1.82747350e-01, 2.61313851e+00,-6.06518084e+00,-2.20441962e+00,
 -1.73761921e-02, 4.77310963e-01,-2.32689639e+00, 5.31322050e+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,
 -3.08032793e+00, 1.48766839e+00,-4.02949651e+00, 4.55620467e+00,
 -1.91693492e+02, 4.82469059e+01]

qfrc_actuator:
[ 2.44250776e-03, 2.73639438e-02, 8.66127639e-03, 1.54553524e-03,
 -2.63270662e-05, 2.73648501e-02, 8.77273995e-03, 1.52856016e-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: -0.001813581190030264
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53042917e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53042917e-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([ 0.0493881 , -0.05873964,  0.0618265 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31420216e-05, 2.01870976e-05,-6.11734539e-05,-3.00135068e-05,
 -3.13514025e-06, 7.80169166e-06, 1.23904921e-06, 9.22317536e-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,
  1.29351802e-04, 3.44371286e-04,-4.90502125e+00,-6.87499905e-05,
  3.07965505e-02, 7.19040732e-03]


--- Step 2510 ---
qpos:
[-2.50142923e-03, 8.65866121e-01,-2.37491161e-02, 4.07249043e-04,
 -2.94826665e-03, 8.61876688e-01,-2.71242447e-02, 3.12080585e-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,
  7.17908490e-03,-4.28320747e-02, 7.92968193e-02, 7.00362398e-01,
 -8.48473310e-02,-7.03271991e-01,-8.77607497e-02]

qacc:
[-2.52479303e-01, 2.96950655e+00,-1.31127924e+01, 2.54891159e+01,
  9.33196163e-02, 1.95752688e+00,-1.14238504e+01, 2.71774872e+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,
  2.56441127e+00, 1.15845409e+00, 4.55588553e+00,-3.99005728e+00,
  1.25385191e+02, 1.01221326e+02]

qfrc_actuator:
[ 2.41234500e-03, 2.73791246e-02, 8.64261050e-03, 1.58168304e-03,
 -7.99307052e-06, 2.73064571e-02, 8.74544038e-03, 1.56913801e-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: -0.0018399391720666028
  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([-0.00075545, -0.04700853,  0.06182406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59630931e-05, 1.25362679e-05,-2.30716737e-05, 3.43138308e-05,
  1.68465783e-05,-5.34055139e-05,-2.52347865e-05, 4.11337134e-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,
  9.77361133e-04, 6.30628682e-04,-4.90504611e+00,-5.51663757e-05,
  3.07991584e-02, 7.19177743e-03]


--- Step 2511 ---
qpos:
[-2.50092422e-03, 8.65866185e-01,-2.37486791e-02, 4.07885589e-04,
 -2.94838654e-03, 8.61876858e-01,-2.71232981e-02, 3.11994178e-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,
  7.17937993e-03,-4.28358580e-02, 7.93053284e-02, 7.00375530e-01,
 -8.47930595e-02,-7.03255609e-01,-8.78396406e-02]

qacc:
[-2.18919002e-01,-8.15092416e-02,-8.35184945e+00, 3.82029529e+01,
  1.04498534e-01, 4.23054247e+00,-1.69248046e+01, 2.70707542e+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,
  2.37201149e+00, 1.06960056e+00, 3.48921745e+00,-3.74338751e+00,
  1.15914974e+02, 9.35201353e+01]

qfrc_actuator:
[ 2.39416614e-03, 2.73523816e-02, 8.70297705e-03, 1.67444250e-03,
  3.02891417e-06, 2.73249000e-02, 8.69288757e-03, 1.59350419e-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: -0.0018522805094606798
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99690846e-14, -8.99072537e-14,  1.00000000e+00,  2.69443809e-27,
        1.00000000e+00,  8.99072537e-14, -1.00000000e+00,  0.00000000e+00,
        2.99690846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074698, -0.04700625,  0.06182296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00953409e-05,-2.30428761e-05, 6.13030717e-05, 9.31683309e-05,
  1.90120578e-05,-1.48830427e-05,-6.52826557e-05, 2.20042777e-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,
  2.16858495e-04, 1.84093453e-04,-4.90500566e+00,-1.03674378e-04,
  3.07988123e-02, 7.19262021e-03]


--- Step 2512 ---
qpos:
[-2.50017550e-03, 8.65865543e-01,-2.37475854e-02, 4.09336554e-04,
 -2.94834297e-03, 8.61877385e-01,-2.71232199e-02, 3.12002020e-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,
  7.18852973e-03,-4.28356549e-02, 7.93241882e-02, 7.00555348e-01,
 -8.48472975e-02,-7.03072425e-01,-8.78197327e-02]

qacc:
[ 1.28477342e-01,-1.09129128e+00,-9.00861849e-01, 1.44630809e+01,
  8.54674096e-02, 4.83264156e+00,-2.05300462e+01, 3.79745795e+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,
  2.21369451e+00, 9.96604617e-01, 2.58768633e+00,-3.51729745e+00,
  1.08068549e+02, 8.71456654e+01]

qfrc_actuator:
[ 2.43656637e-03, 2.72833738e-02, 8.72060613e-03, 1.71100830e-03,
  9.57020084e-06, 2.73713311e-02, 8.66163639e-03, 1.64368112e-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: -0.001844476370448142
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.01917727e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.01917727e-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([-0.00075307, -0.04700808,  0.06182372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32755484e-05,-6.52527989e-05, 2.36425001e-05, 3.95128090e-05,
  1.55648733e-05, 2.55610287e-05,-4.16146157e-05, 4.77074532e-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,
  1.10118339e-06,-3.35405033e-06,-4.90499569e+00,-1.22323563e-04,
  3.07992694e-02, 7.19223276e-03]


--- Step 2513 ---
qpos:
[-2.49886341e-03, 8.65864779e-01,-2.37469240e-02, 4.09834797e-04,
 -2.94799524e-03, 8.61877976e-01,-2.71228883e-02, 3.12031249e-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,
  7.20601527e-03,-4.28317043e-02, 7.93503541e-02, 7.00891692e-01,
 -8.50034430e-02,-7.02732336e-01,-8.77069878e-02]

qacc:
[ 2.95085518e-01,-9.13833874e-01, 7.04635367e+00,-2.27532273e+01,
  1.60333843e-01,-1.82755810e-01,-1.27944480e-01, 3.37672516e+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,
  2.08393445e+00, 9.36868966e-01, 1.82652790e+00,-3.30973108e+00,
  1.01572296e+02, 8.18725128e+01]

qfrc_actuator:
[ 2.47931342e-03, 2.72781554e-02, 8.69484673e-03, 1.66086821e-03,
  3.11320953e-05, 2.73810127e-02, 8.67888067e-03, 1.65543778e-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: -0.0018205551187245803
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09826647e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.09826647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077074, -0.04701317,  0.06182593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.38373732e-05,-3.51252405e-05,-3.49623660e-05,-5.13512304e-05,
  2.89534279e-05, 1.74124198e-05, 1.90420397e-05, 1.23386453e-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,
  2.21586152e-04, 1.66283363e-05,-4.90500970e+00,-1.15992090e-04,
  3.08003298e-02, 7.19079154e-03]


--- Step 2514 ---
qpos:
[-2.49720917e-03, 8.65864049e-01,-2.37461373e-02, 4.09669696e-04,
 -2.94699745e-03, 8.61878196e-01,-2.71221359e-02, 3.12078791e-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,
  7.21102196e-03,-4.28215093e-02, 7.93607115e-02, 7.00964403e-01,
 -8.52512895e-02,-7.02657297e-01,-8.74862653e-02]

qacc:
[ 1.79418903e-01,-1.67111674e+00, 8.82303216e+00,-2.05292498e+01,
  3.42768329e-01,-1.28739525e+00, 3.10671687e+00,-3.38723686e-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,
 -3.11971186e+00, 1.56109611e+00,-3.95214195e+00, 6.22205059e+00,
 -1.94128407e+02, 4.72345601e+01]

qfrc_actuator:
[ 2.48634617e-03, 2.73109080e-02, 8.71489129e-03, 1.63115649e-03,
  7.92529129e-05, 2.73332888e-02, 8.68894250e-03, 1.66224653e-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: -0.0018032118255918786
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53922990e-14, -5.38730466e-14,  1.00000000e+00,  8.29230042e-28,
        1.00000000e+00,  5.38730466e-14, -1.00000000e+00,  0.00000000e+00,
        1.53922990e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04940705, -0.05875848,  0.06182761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27027311e-05, 3.70669386e-06, 6.70384586e-06,-3.34275874e-05,
  6.18665543e-05,-3.35397246e-05, 1.64230464e-05, 8.45163653e-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,
  7.99623155e-04, 2.06459275e-04,-4.90504432e+00,-8.82754975e-05,
  3.08018136e-02, 7.18842910e-03]


--- Step 2515 ---
qpos:
[-2.49554256e-03, 8.65863879e-01,-2.37456631e-02, 4.08765546e-04,
 -2.94539602e-03, 8.61878130e-01,-2.71214775e-02, 3.12067640e-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,
  7.20440976e-03,-4.28055357e-02, 7.93535955e-02, 7.00792215e-01,
 -8.55851794e-02,-7.02828346e-01,-8.71651536e-02]

qacc:
[ 6.04904721e-03, 9.17709051e-02, 3.86628772e+00,-1.65679600e+01,
  3.17913689e-01,-1.32302767e+00, 6.64658524e+00,-1.64448359e+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,
 -2.90472458e+00, 1.44463708e+00,-4.36834844e+00, 5.43860173e+00,
 -1.80332419e+02, 4.42118764e+01]

qfrc_actuator:
[ 0.00247195, 0.02736634, 0.00870878, 0.00159604, 0.00010734, 0.02730479,
  0.00867667, 0.00163053,-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: -0.001794980384265385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09257704e-14, -6.95829834e-14,  1.00000000e+00,  2.15190737e-27,
        1.00000000e+00,  6.95829834e-14, -1.00000000e+00,  0.00000000e+00,
        3.09257704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04942183, -0.05876785,  0.0618284 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19593260e-06, 5.74660928e-05,-5.68302769e-06,-3.53760335e-05,
  5.74465844e-05,-4.35048914e-05,-1.68889007e-05,-3.24270113e-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,
  6.66837855e-05, 1.41554749e-04,-4.90503417e+00,-8.62932526e-05,
  3.08016534e-02, 7.19045078e-03]


--- Step 2516 ---
qpos:
[-2.49415311e-03, 8.65863728e-01,-2.37453173e-02, 4.06813934e-04,
 -2.94390122e-03, 8.61878227e-01,-2.71211802e-02, 3.12014656e-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,
  7.20705250e-03,-4.27852639e-02, 7.93586563e-02, 7.00793092e-01,
 -8.60317575e-02,-7.02825289e-01,-8.67420998e-02]

qacc:
[-1.45448274e-01,-1.77291941e+00, 1.07782332e+01,-2.87151218e+01,
 -5.64627477e-02, 3.62895104e-01, 7.84702847e-01,-7.56666516e+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,
  2.31373595e+00, 1.07457303e+00, 3.04421183e+00,-3.84369310e+00,
  1.12550289e+02, 9.03134179e+01]

qfrc_actuator:
[ 2.44487951e-03, 2.73283151e-02, 8.68735119e-03, 1.54027134e-03,
  6.99256028e-05, 2.73411451e-02, 8.66910532e-03, 1.61189121e-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: -0.001774016329772754
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12912290e-14, -3.12912290e-14,  1.00000000e+00,  9.79141013e-28,
        1.00000000e+00,  3.12912290e-14, -1.00000000e+00,  0.00000000e+00,
        3.12912290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080506, -0.04702442,  0.0618302 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64887045e-05,-8.57840508e-06,-1.14824248e-05,-5.41925059e-05,
 -1.01456609e-05, 7.15584351e-06,-1.97616513e-05,-2.17162756e-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,
  1.14921750e-04,-3.02536623e-04,-4.90504751e+00,-8.74554558e-05,
  3.08017338e-02, 7.19098279e-03]


--- Step 2517 ---
qpos:
[-2.49269807e-03, 8.65862549e-01,-2.37439029e-02, 4.04262171e-04,
 -2.94307160e-03, 8.61878928e-01,-2.71215262e-02, 3.11935926e-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,
  7.21836525e-03,-4.27609695e-02, 7.93725770e-02, 7.00955759e-01,
 -8.65841631e-02,-7.02659093e-01,-8.62229990e-02]

qacc:
[ 3.53909798e-02,-5.57554333e+00, 2.04463734e+01,-3.17920177e+01,
 -3.50959288e-01, 2.06333258e+00,-5.11336723e+00, 1.24441039e+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,
  2.16750305e+00, 1.00564465e+00, 2.21497677e+00,-3.44552508e+00,
  1.05296146e+02, 8.48781707e+01]

qfrc_actuator:
[ 2.46375528e-03, 2.72345412e-02, 8.72769326e-03, 1.50821873e-03,
  1.14400031e-05, 2.73983272e-02, 8.64690945e-03, 1.60117297e-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: -0.001761871783123252
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15069188e-14, -1.57534594e-14,  1.00000000e+00,  4.96342967e-28,
        1.00000000e+00,  1.57534594e-14, -1.00000000e+00,  0.00000000e+00,
        3.15069188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00081397, -0.04702772,  0.06183129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.24506612e-06,-1.03266018e-04, 3.52808921e-05,-3.38695159e-05,
 -6.33002315e-05, 5.61667322e-05,-2.39067016e-05,-1.15180387e-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,
  1.94072731e-05, 1.34185534e-04,-4.90507881e+00,-2.99139833e-05,
  3.08050867e-02, 7.18868248e-03]


--- Step 2518 ---
qpos:
[-2.49109980e-03, 8.65860781e-01,-2.37424287e-02, 4.02051202e-04,
 -2.94273902e-03, 8.61879420e-01,-2.71212667e-02, 3.11812180e-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,
  7.23249390e-03,-4.27507973e-02, 7.93888785e-02, 7.01206549e-01,
 -8.68469799e-02,-7.02406295e-01,-8.59789203e-02]

qacc:
[ 7.53500877e-02,-2.43882604e-01,-1.69892453e+00, 7.93434477e+00,
 -2.61334799e-01,-2.89181010e+00, 1.18128612e+01,-2.04224099e+01,
  1.54909837e-01,-9.80659020e-01, 6.53018410e+00,-1.75735076e+01,
 -3.36932389e-02,-2.75396606e-01,-7.28629423e+00, 2.43891755e+01,
  7.03974896e-01,-3.53055081e+00, 5.95202711e-01, 4.95264941e+00,
  8.57039083e+01,-1.90581946e+02]

qfrc_actuator:
[ 2.47445937e-03, 2.72148699e-02, 8.73293887e-03, 1.52587323e-03,
 -5.83146044e-06, 2.73609830e-02, 8.66962153e-03, 1.57745881e-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: -0.0017449106358712746
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.18131772e-14, -3.18131772e-14,  1.00000000e+00,  1.01207824e-27,
        1.00000000e+00,  3.18131772e-14, -1.00000000e+00,  0.00000000e+00,
        3.18131772e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00671638, -0.02195576,  0.06183286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36713004e-05,-7.15615277e-05,-1.29067110e-05, 1.37958989e-05,
 -4.73124004e-05,-1.13885129e-05, 3.09668949e-05,-2.23581657e-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,
  3.29258068e-04, 7.26619109e-04,-4.90513254e+00, 4.94199743e-05,
  3.08086893e-02, 7.18533277e-03]


--- Step 2519 ---
qpos:
[-2.48993112e-03, 8.65859583e-01,-2.37422892e-02, 4.00361189e-04,
 -2.94274953e-03, 8.61879743e-01,-2.71204203e-02, 3.11660624e-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,
  7.23219324e-03,-4.27442705e-02, 7.93867539e-02, 7.01184615e-01,
 -8.69780736e-02,-7.02423574e-01,-8.58840706e-02]

qacc:
[-2.26235552e-01, 5.55208688e+00,-2.09044441e+01, 3.16408198e+01,
 -1.80273799e-01,-2.43274030e+00, 9.52604667e+00,-1.51567045e+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,
 -3.60732749e+00,-9.11356087e-01,-4.60654903e+00,-6.45935921e+00,
 -1.78328439e+02,-1.22033632e+02]

qfrc_actuator:
[ 2.42689868e-03, 2.72928912e-02, 8.68220284e-03, 1.55489847e-03,
 -1.60291471e-05, 2.73562577e-02, 8.70053426e-03, 1.56399538e-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: -0.00177108752881662
  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([ 0.05533399, -0.03489015,  0.06183066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10473975e-05, 3.59628398e-05,-6.66240079e-05, 2.57849788e-05,
 -3.26581309e-05,-5.67361615e-06, 3.15988500e-05,-1.33132235e-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,
  5.03402716e-04, 3.94105222e-04,-4.90504520e+00, 7.08978089e-05,
  3.08007798e-02, 7.18429680e-03]


--- Step 2520 ---
qpos:
[-2.48908223e-03, 8.65858601e-01,-2.37424351e-02, 3.98658572e-04,
 -2.94298505e-03, 8.61880350e-01,-2.71202359e-02, 3.11531499e-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,
  7.21854037e-03,-4.27411355e-02, 7.93646457e-02, 7.00910447e-01,
 -8.69878767e-02,-7.02690659e-01,-8.59272500e-02]

qacc:
[-1.67919441e-01, 1.05593452e+00,-3.29821407e+00, 3.37855397e+00,
 -1.19007422e-01, 2.68250967e+00,-9.97059441e+00, 1.47064618e+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,
 -3.33805168e+00,-8.47949641e-01,-4.99588774e+00,-6.19608128e+00,
 -1.64956996e+02,-1.12685970e+02]

qfrc_actuator:
[ 2.41590518e-03, 2.73043356e-02, 8.67025891e-03, 1.55492442e-03,
 -2.19377001e-05, 2.73711474e-02, 8.66513343e-03, 1.57444304e-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: -0.0017751625072347232
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12710250e-14,  3.12710250e-14,  1.00000000e+00, -9.77877008e-28,
        1.00000000e+00, -3.12710250e-14, -1.00000000e+00,  0.00000000e+00,
        3.12710250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0553259 , -0.03489343,  0.06183028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05591736e-05, 1.89212207e-05,-1.18216610e-05,-2.32859551e-07,
 -2.14121309e-05, 1.76565859e-05,-3.31465907e-05, 1.10401864e-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,
  2.95512890e-06,-5.53508109e-06,-4.90501673e+00, 5.30699716e-05,
  3.08004149e-02, 7.18526384e-03]


--- Step 2521 ---
qpos:
[-2.48789883e-03, 8.65856582e-01,-2.37413741e-02, 3.97718333e-04,
 -2.94317570e-03, 8.61881216e-01,-2.71207846e-02, 3.11416726e-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,
  7.20779830e-03,-4.27531195e-02, 7.93464563e-02, 7.00727739e-01,
 -8.67016158e-02,-7.02868700e-01,-8.62499644e-02]

qacc:
[ 1.76543015e-01,-3.17064347e+00, 6.10043470e+00, 5.92221516e+00,
  2.30845159e-02, 2.68517770e+00,-9.68320174e+00, 1.31519267e+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,
  7.27698531e-01,-3.77974744e+00, 9.79699584e-01, 5.69616658e+00,
  8.82180300e+01,-1.94182905e+02]

qfrc_actuator:
[ 2.46241930e-03, 2.72049497e-02, 8.71657998e-03, 1.59113385e-03,
 -7.50098910e-06, 2.73796688e-02, 8.62646360e-03, 1.58109355e-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: -0.0017754134219335471
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12666056e-14, -6.25332112e-14,  1.00000000e+00,  1.95520125e-27,
        1.00000000e+00,  6.25332112e-14, -1.00000000e+00,  0.00000000e+00,
        3.12666056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672993, -0.02198452,  0.06183012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19470380e-05,-9.12355216e-05, 4.87756150e-05, 3.66109067e-05,
  4.27490878e-06, 1.20051935e-05,-3.87292118e-05, 6.47559207e-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,
  4.77378300e-04,-2.71798018e-05,-4.90501955e+00, 6.07941426e-05,
  3.07981064e-02, 7.18902690e-03]


--- Step 2522 ---
qpos:
[-2.48682847e-03, 8.65854719e-01,-2.37401729e-02, 3.97139686e-04,
 -2.94325353e-03, 8.61882238e-01,-2.71212207e-02, 3.11271743e-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,
  7.19977687e-03,-4.27790930e-02, 7.93290633e-02, 7.00629326e-01,
 -8.61401565e-02,-7.02964066e-01,-8.68328402e-02]

qacc:
[-5.92143923e-02, 5.59107388e-01,-3.22031094e+00, 9.13930193e+00,
  5.94095988e-02,-7.30935164e-01, 4.17949536e+00,-9.70306790e+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,
  6.80159189e-01,-3.49737256e+00, 1.99117219e-01, 5.07879187e+00,
  8.17370735e+01,-1.80646040e+02]

qfrc_actuator:
[ 2.43639581e-03, 2.72710167e-02, 8.74322411e-03, 1.61277819e-03,
  1.21036981e-06, 2.74020314e-02, 8.63942639e-03, 1.56770420e-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: -0.0017763028401661801
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -3.125095e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  3.125095e-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([ 0.00673169, -0.0219848 ,  0.06182993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07985234e-05, 2.67342105e-05, 1.50851869e-05, 2.01391165e-05,
  1.07425268e-05, 2.13404210e-05, 1.08936161e-05,-1.40883121e-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,
  2.96182996e-04, 3.83420562e-04,-4.90499663e+00, 5.06005694e-05,
  3.07945054e-02, 7.18736767e-03]


--- Step 2523 ---
qpos:
[-2.48653644e-03, 8.65853393e-01,-2.37396263e-02, 3.95448876e-04,
 -2.94340966e-03, 8.61882871e-01,-2.71210246e-02, 3.11184279e-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,
  7.20168230e-03,-4.28008191e-02, 7.93279993e-02, 7.00717927e-01,
 -8.57029152e-02,-7.02871275e-01,-8.73004432e-02]

qacc:
[-4.08727295e-01, 2.47749725e-01, 4.83997307e+00,-2.34347144e+01,
 -4.06627534e-02,-1.09439779e+00, 7.29900785e-01, 8.49787821e+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,
  2.48171633e+00, 1.06184104e+00, 4.08224039e+00,-3.11343133e+00,
  1.21287953e+02, 1.00265562e+02]

qfrc_actuator:
[ 2.36716349e-03, 2.72935557e-02, 8.70538813e-03, 1.55476876e-03,
 -1.13519972e-05, 2.73616894e-02, 8.66506355e-03, 1.59593705e-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: -0.0017950517955622955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09245401e-14, -3.09245401e-14,  1.00000000e+00,  9.56327180e-28,
        1.00000000e+00,  3.09245401e-14, -1.00000000e+00,  0.00000000e+00,
        3.09245401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079039, -0.04701355,  0.06182817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.43756286e-05, 4.14987036e-05,-2.97535071e-05,-5.59481901e-05,
 -7.46023072e-06,-2.67802151e-05, 3.08965156e-05, 2.92510033e-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,
  1.67818155e-04, 5.64162149e-04,-4.90504205e+00,-1.05454030e-05,
  3.07954510e-02, 7.18825880e-03]


--- Step 2524 ---
qpos:
[-2.48667474e-03, 8.65851629e-01,-2.37391620e-02, 3.93508621e-04,
 -2.94368104e-03, 8.61883513e-01,-2.71214806e-02, 3.11169710e-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,
  7.21281419e-03,-4.28185833e-02, 7.93393067e-02, 7.00980275e-01,
 -8.53804845e-02,-7.02603876e-01,-8.76619673e-02]

qacc:
[-2.25524070e-01,-8.60744397e-01, 3.28365457e+00,-7.14803950e+00,
 -6.10734820e-02, 3.33145705e+00,-1.49403707e+01, 2.85964928e+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,
  2.30661652e+00, 9.90480561e-01, 3.09283079e+00,-3.12145917e+00,
  1.12679737e+02, 9.25805496e+01]

qfrc_actuator:
[ 2.36147956e-03, 2.72185243e-02, 8.68286054e-03, 1.53905936e-03,
 -1.87799885e-05, 2.73552168e-02, 8.62673023e-03, 1.63063414e-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: -0.001801198774041779
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24570103e-14, -4.62285052e-14,  1.00000000e+00,  4.27414938e-27,
        1.00000000e+00,  4.62285052e-14, -1.00000000e+00,  0.00000000e+00,
        9.24570103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.000786  , -0.04701093,  0.06182762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11403503e-05,-6.03477833e-05,-1.95494355e-05,-1.60457694e-05,
 -1.09734756e-05,-1.38297336e-05,-3.90500352e-05, 3.51888331e-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,
  9.20871701e-06,-1.24803736e-04,-4.90500628e+00,-8.65655420e-05,
  3.07943148e-02, 7.18904606e-03]


--- Step 2525 ---
qpos:
[-2.48667911e-03, 8.65849478e-01,-2.37387183e-02, 3.92076062e-04,
 -2.94386557e-03, 8.61884022e-01,-2.71220686e-02, 3.11195106e-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,
  7.21057542e-03,-4.28297888e-02, 7.93365221e-02, 7.00959743e-01,
 -8.51594055e-02,-7.02620508e-01,-8.79075378e-02]

qacc:
[ 7.03622312e-02, 5.90394984e-01,-4.99130624e+00, 1.40958524e+01,
  4.57296925e-02, 1.01505503e+00,-5.56236852e+00, 1.27895973e+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,
 -3.34266829e+00, 1.63969546e+00,-3.52298275e+00, 5.58520405e+00,
 -2.08319432e+02, 5.17213718e+01]

qfrc_actuator:
[ 2.39388798e-03, 2.72099786e-02, 8.68696039e-03, 1.56606475e-03,
 -5.30644584e-06, 2.73510709e-02, 8.62205645e-03, 1.65107330e-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: -0.0018218367108358557
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04698829e-14, -1.52349414e-14,  1.00000000e+00,  4.64206882e-28,
        1.00000000e+00,  1.52349414e-14, -1.00000000e+00,  0.00000000e+00,
        3.04698829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0493657 , -0.05875997,  0.06182587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27877836e-05,-4.69795648e-05,-1.13139903e-05, 2.34368507e-05,
  8.26274427e-06,-1.84495129e-05,-1.11245114e-05, 1.91801848e-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,
  3.24177930e-04,-5.45217030e-04,-4.90499928e+00,-1.33600945e-04,
  3.07935262e-02, 7.18880635e-03]


--- Step 2526 ---
qpos:
[-2.48623138e-03, 8.65847700e-01,-2.37391244e-02, 3.90591817e-04,
 -2.94411017e-03, 8.61884105e-01,-2.71220441e-02, 3.11277905e-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,
  7.19597838e-03,-4.28349537e-02, 7.93177187e-02, 7.00678292e-01,
 -8.50320299e-02,-7.02899253e-01,-8.80461509e-02]

qacc:
[ 2.36366367e-01, 2.75907475e+00,-8.90562982e+00, 9.09897940e+00,
 -3.10649089e-02,-1.09136634e+00, 6.52537217e-01, 8.61396072e+00,
 -7.84383070e-02, 3.76257597e+00,-1.33292178e+01, 1.80179316e+01,
 -3.98530318e-02,-1.19513287e-01,-6.33815095e+00, 2.10698617e+01,
 -3.08956511e+00, 1.51012253e+00,-4.00470309e+00, 5.14497217e+00,
 -1.92201283e+02, 4.77763118e+01]

qfrc_actuator:
[ 2.43100706e-03, 2.72592021e-02, 8.65374991e-03, 1.56478376e-03,
 -1.49532558e-05, 2.73307069e-02, 8.65507198e-03, 1.68074805e-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: -0.0018298838566606496
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03358877e-14,  2.27519158e-14,  1.00000000e+00, -6.90199563e-28,
        1.00000000e+00, -2.27519158e-14, -1.00000000e+00,  0.00000000e+00,
        3.03358877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935119, -0.05875503,  0.06182515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32152110e-05, 2.16719666e-05,-4.34806003e-05,-3.22425684e-06,
 -5.72692865e-06,-3.21632041e-05, 2.84985642e-05, 2.88723335e-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,
  1.34139525e-05, 6.41499640e-05,-4.90499485e+00,-1.14865564e-04,
  3.07957471e-02, 7.19157012e-03]


--- Step 2527 ---
qpos:
[-2.48571135e-03, 8.65846679e-01,-2.37399422e-02, 3.89368202e-04,
 -2.94444287e-03, 8.61884620e-01,-2.71227631e-02, 3.11324884e-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,
  7.19133770e-03,-4.28356386e-02, 7.93153587e-02, 7.00584366e-01,
 -8.50265190e-02,-7.02990076e-01,-8.80737783e-02]

qacc:
[ 3.73970504e-02, 2.68550109e+00,-9.22566238e+00, 1.38408857e+01,
 -4.70453165e-02, 1.90889334e+00,-4.46732804e+00,-8.57937866e-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,
  2.48909074e+00, 1.12001674e+00, 4.11084271e+00,-3.98814505e+00,
  1.21658196e+02, 9.79570582e+01]

qfrc_actuator:
[ 2.41732289e-03, 2.73424812e-02, 8.65224852e-03, 1.58239251e-03,
 -2.06074591e-05, 2.73719689e-02, 8.62124602e-03, 1.66237202e-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: -0.001823706016009466
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04386512e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04386512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077013, -0.04700509,  0.06182558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92993424e-06, 8.63314347e-05,-2.47540488e-06, 1.69743275e-05,
 -8.37752917e-06, 3.03953855e-05,-3.59598512e-05,-1.82067702e-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,
  5.55393956e-04, 1.84827952e-04,-4.90501803e+00,-1.05217595e-04,
  3.07980210e-02, 7.19308192e-03]


--- Step 2528 ---
qpos:
[-2.48561691e-03, 8.65846508e-01,-2.37406391e-02, 3.88659689e-04,
 -2.94466459e-03, 8.61885558e-01,-2.71238958e-02, 3.11243705e-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,
  7.19594071e-03,-4.28321674e-02, 7.93254559e-02, 7.00664477e-01,
 -8.51341268e-02,-7.02906641e-01,-8.79984371e-02]

qacc:
[-2.23329414e-01, 1.84481712e+00,-7.12295501e+00, 1.52202924e+01,
  5.79640537e-02,-9.23950493e-01, 9.51483888e+00,-3.13449507e+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,
  2.31092122e+00, 1.03900054e+00, 3.11430841e+00,-3.70651761e+00,
  1.12855732e+02, 9.09021294e+01]

qfrc_actuator:
[ 2.37335573e-03, 2.74101557e-02, 8.66967451e-03, 1.61104346e-03,
 -6.06140541e-06, 2.73962607e-02, 8.60168418e-03, 1.59811551e-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: -0.0018286077321108124
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03570581e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.03570581e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076684, -0.0470043 ,  0.06182515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06495664e-05, 1.16197540e-04, 3.55545022e-05, 3.25983384e-05,
  1.05737513e-05, 3.30732388e-05,-1.83442375e-05,-6.45537602e-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,
  5.73545090e-05, 3.34285840e-06,-4.90500152e+00,-1.23054586e-04,
  3.07989500e-02, 7.19281501e-03]


--- Step 2529 ---
qpos:
[-2.48599919e-03, 8.65847384e-01,-2.37415031e-02, 3.88293725e-04,
 -2.94474161e-03, 8.61886401e-01,-2.71242665e-02, 3.11119170e-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,
  7.20920141e-03,-4.28248056e-02, 7.93446412e-02, 7.00907293e-01,
 -8.53475639e-02,-7.02660109e-01,-8.78267111e-02]

qacc:
[-2.50394670e-01, 2.55516305e+00,-8.54880267e+00, 1.39761226e+01,
  7.66980264e-02,-3.14379464e+00, 1.28594908e+01,-2.15155951e+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,
  2.16442152e+00, 9.72676902e-01, 2.27203076e+00,-3.45094961e+00,
  1.05561837e+02, 8.50621228e+01]

qfrc_actuator:
[ 2.34719301e-03, 2.74680716e-02, 8.66258367e-03, 1.62820837e-03,
  2.68832527e-06, 2.73924544e-02, 8.64390617e-03, 1.57840790e-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: -0.0018150282216825436
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05841808e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.05841808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077692, -0.04700726,  0.0618264 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.55317514e-05, 1.31636462e-04, 2.24245791e-05, 2.40105462e-05,
  1.37743447e-05, 8.12267566e-06, 4.45605581e-05,-2.01809394e-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,
  5.62472888e-05, 4.70493000e-05,-4.90501204e+00,-1.13680390e-04,
  3.08005633e-02, 7.19138649e-03]


--- Step 2530 ---
qpos:
[-2.48658262e-03, 8.65848843e-01,-2.37416646e-02, 3.87790548e-04,
 -2.94450902e-03, 8.61887785e-01,-2.71246277e-02, 3.10899848e-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,
  7.21024367e-03,-4.28113193e-02, 7.93475415e-02, 7.00892003e-01,
 -8.56509923e-02,-7.02673081e-01,-8.75491201e-02]

qacc:
[-1.05226687e-01,-1.47466351e+00, 6.95501670e+00,-1.08832430e+01,
  1.62817493e-01,-1.26086897e+00, 9.53711698e+00,-2.63571458e+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,
 -3.05460901e+00, 1.53110607e+00,-4.07125436e+00, 6.03712701e+00,
 -1.90093763e+02, 4.63091825e+01]

qfrc_actuator:
[ 2.34968696e-03, 2.74840896e-02, 8.69428032e-03, 1.62069554e-03,
  2.56347842e-05, 2.74431486e-02, 8.65117795e-03, 1.53183635e-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: -0.001811150106901277
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53248345e-14,  1.53248345e-14,  1.00000000e+00, -2.34850552e-28,
        1.00000000e+00, -1.53248345e-14, -1.00000000e+00,  0.00000000e+00,
        1.53248345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04938219, -0.05877821,  0.06182686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92029289e-05, 9.52683713e-05, 6.24788181e-05,-6.29149870e-07,
  2.94858301e-05, 6.35609460e-05, 1.37391445e-05,-4.50731178e-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,
  4.56793707e-04, 2.72767642e-04,-4.90504485e+00,-8.12926047e-05,
  3.08026479e-02, 7.18896341e-03]


--- Step 2531 ---
qpos:
[-2.48724257e-03, 8.65850754e-01,-2.37413420e-02, 3.87578932e-04,
 -2.94398771e-03, 8.61889631e-01,-2.71251590e-02, 3.10594173e-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,
  7.19989378e-03,-4.27921575e-02, 7.93325528e-02, 7.00636379e-01,
 -8.60390393e-02,-7.02927330e-01,-8.71729077e-02]

qacc:
[-3.99618587e-02,-1.54013743e-01, 1.86563329e-01, 3.75172785e+00,
  1.51736075e-01,-6.93342612e-01, 7.00112347e+00,-2.20134143e+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,
 -2.84803875e+00, 1.41888656e+00,-4.47226152e+00, 5.26444756e+00,
 -1.76920512e+02, 4.34377769e+01]

qfrc_actuator:
[ 2.35153738e-03, 2.74927675e-02, 8.71294139e-03, 1.63422408e-03,
  3.91238552e-05, 2.74549333e-02, 8.63792711e-03, 1.48758680e-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: -0.0017967026466284217
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08961259e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.08961259e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04940667, -0.05879183,  0.06182814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.29818093e-06, 7.47933891e-05, 4.60039610e-05, 1.97588710e-05,
  2.74942451e-05, 4.82097566e-05, 3.69466122e-09,-4.19272130e-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,
  4.40339683e-06, 3.14550463e-05,-4.90504485e+00,-8.14038064e-05,
  3.08025494e-02, 7.19065108e-03]


--- Step 2532 ---
qpos:
[-2.48810986e-03, 8.65852902e-01,-2.37409527e-02, 3.88279276e-04,
 -2.94324803e-03, 8.61890925e-01,-2.71254701e-02, 3.10386431e-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,
  7.19910635e-03,-4.27685565e-02, 7.93315491e-02, 7.00559704e-01,
 -8.65438637e-02,-7.03001375e-01,-8.66909931e-02]

qacc:
[-1.08697638e-01, 2.00356655e+00,-1.05391453e+01, 2.60419835e+01,
  1.15391915e-01, 6.71413784e-01,-7.58656933e+00, 2.45901958e+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,
  2.39061719e+00, 1.10980579e+00, 3.49625361e+00,-3.91502659e+00,
  1.16385550e+02, 9.36243836e+01]

qfrc_actuator:
[ 2.33520490e-03, 2.74791857e-02, 8.70596589e-03, 1.67775617e-03,
  4.68355371e-05, 2.73722261e-02, 8.63029111e-03, 1.53378841e-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: -0.0017945958282649319
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09323973e-14,  6.18647947e-14,  1.00000000e+00, -1.91362641e-27,
        1.00000000e+00, -6.18647947e-14, -1.00000000e+00,  0.00000000e+00,
        3.09323973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079199, -0.04701308,  0.06182824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98083836e-05, 3.85418669e-05, 1.48066815e-05, 4.87099854e-05,
  2.07696919e-05,-5.75766518e-05, 8.63703798e-07, 4.74530610e-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,
  2.83970570e-04,-5.63063367e-04,-4.90506652e+00,-8.37922598e-05,
  3.08027374e-02, 7.19095231e-03]


--- Step 2533 ---
qpos:
[-2.48880205e-03, 8.65854883e-01,-2.37403478e-02, 3.88502669e-04,
 -2.94236052e-03, 8.61891553e-01,-2.71257282e-02, 3.10238424e-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,
  7.20717418e-03,-4.27408972e-02, 7.93410953e-02, 7.00648650e-01,
 -8.71559705e-02,-7.02908310e-01,-8.61116414e-02]

qacc:
[ 9.19700861e-02,-1.80383075e+00, 8.12567981e+00,-1.66034927e+01,
  7.81569512e-02, 2.02173660e-01,-4.51875466e+00, 1.52620026e+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,
  2.21381274e+00, 1.01456165e+00, 2.63750274e+00,-3.40628409e+00,
  1.07884934e+02, 8.62503058e+01]

qfrc_actuator:
[ 2.36138199e-03, 2.74345299e-02, 8.70158482e-03, 1.64979022e-03,
  5.10356568e-05, 2.73224155e-02, 8.62570189e-03, 1.56175274e-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: -0.001789438770693066
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71630600e-07, -2.71630558e-07,  1.00000000e+00, -7.37831714e-14,
        1.00000000e+00,  2.71630558e-07, -1.00000000e+00, -2.52435490e-29,
       -2.71630600e-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([-0.00064002, -0.0468964 ,  0.06182868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67307626e-05,-1.80149053e-05, 7.06901974e-06,-2.48587914e-05,
  1.40516548e-05,-7.98177719e-05,-1.47362906e-05, 2.64528244e-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,
  4.49874994e-06,-7.24026076e-05,-4.90509724e+00,-2.10084451e-05,
  3.08066891e-02, 7.18856372e-03]


--- Step 2534 ---
qpos:
[-2.48924448e-03, 8.65856110e-01,-2.37394750e-02, 3.88463126e-04,
 -2.94175410e-03, 8.61891663e-01,-2.71257946e-02, 3.10122261e-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,
  7.21814991e-03,-4.27278822e-02, 7.93547168e-02, 7.00828984e-01,
 -8.74676210e-02,-7.02725737e-01,-8.58177688e-02]

qacc:
[ 1.31363050e-01,-2.28596436e+00, 7.81417975e+00,-1.22399567e+01,
 -1.47708707e-01,-5.64160054e-01,-3.25465469e-01, 5.90998048e+00,
 -1.37645388e-01, 1.33436416e+00,-1.23270886e+01, 4.12709179e+01,
  5.44014735e-02,-5.54128522e-01, 1.57979304e+00,-5.42113475e+00,
  7.26975882e-01,-3.66106658e+00, 1.01878496e+00, 5.05298228e+00,
  8.88523229e+01,-1.97771637e+02]

qfrc_actuator:
[ 2.37726006e-03, 2.73537862e-02, 8.69858486e-03, 1.63320746e-03,
  1.76067658e-05, 2.73104297e-02, 8.64077245e-03, 1.57876497e-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: -0.0018010702972075937
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08212019e-14, -3.08212019e-14,  1.00000000e+00,  9.49946485e-28,
        1.00000000e+00,  3.08212019e-14, -1.00000000e+00,  0.00000000e+00,
        3.08212019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00674991, -0.02201246,  0.06182772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38494210e-05,-9.04709276e-05,-6.73043225e-06,-1.75981056e-05,
 -2.67685913e-05,-5.85371672e-05,-2.31476488e-06, 1.35993460e-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,
  1.66202918e-04, 5.74245497e-04,-4.90515056e+00, 6.44064976e-05,
  3.08107644e-02, 7.18508257e-03]


--- Step 2535 ---
qpos:
[-2.48928210e-03, 8.65856503e-01,-2.37386047e-02, 3.89291233e-04,
 -2.94149272e-03, 8.61891697e-01,-2.71259384e-02, 3.10127093e-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,
  7.23185452e-03,-4.27284921e-02, 7.93693218e-02, 7.01094368e-01,
 -8.75008904e-02,-7.02460406e-01,-8.57884537e-02]

qacc:
[ 2.12573703e-01, 6.91663757e-01,-7.72672138e+00, 2.33596314e+01,
 -1.81672879e-01, 2.60486839e+00,-1.45426328e+01, 3.56657594e+01,
 -8.27075763e-02, 8.24052749e-01, 2.64665175e+00,-1.95625129e+01,
  6.93927221e-02,-1.07698665e-01,-3.43092027e+00, 1.15705579e+01,
  6.82221072e-01,-3.40623927e+00, 2.45888321e-01, 4.76164508e+00,
  8.23983105e+01,-1.83248792e+02]

qfrc_actuator:
[ 2.40456666e-03, 2.73053022e-02, 8.69627505e-03, 1.67668928e-03,
 -2.52448831e-06, 2.73390104e-02, 8.64972627e-03, 1.64250378e-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: -0.001804617000132569
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07606275e-14, -3.07606275e-14,  1.00000000e+00,  9.46216201e-28,
        1.00000000e+00,  3.07606275e-14, -1.00000000e+00,  0.00000000e+00,
        3.07606275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00675155, -0.02201583,  0.06182749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86650220e-05,-1.01249622e-04,-2.24496105e-05, 3.90273979e-05,
 -3.28456571e-05,-4.05109140e-06,-2.94832446e-06, 6.14179134e-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,
  2.98845935e-04, 3.80804333e-04,-4.90504695e+00, 1.02688820e-04,
  3.08024068e-02, 7.18336422e-03]


--- Step 2536 ---
qpos:
[-2.48895787e-03, 8.65856678e-01,-2.37374767e-02, 3.90535735e-04,
 -2.94133457e-03, 8.61892066e-01,-2.71264389e-02, 3.10170265e-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,
  7.23127952e-03,-4.27327818e-02, 7.93652877e-02, 7.01090205e-01,
 -8.74062446e-02,-7.02461928e-01,-8.59064161e-02]

qacc:
[ 1.89976692e-01,-1.50497357e-01,-1.63881316e+00, 8.59298347e+00,
 -5.46826687e-02, 2.22626670e+00,-8.91556599e+00, 1.58778510e+01,
  4.84389075e-02, 8.40027882e-01, 5.73737169e+00,-3.37080641e+01,
  6.97619528e-02, 4.17946928e-02, 3.30117979e+00,-1.12388064e+01,
 -3.56990349e+00,-9.19942462e-01,-4.65974912e+00,-7.23444787e+00,
 -1.76287382e+02,-1.19792351e+02]

qfrc_actuator:
[ 2.42072278e-03, 2.73475652e-02, 8.73004777e-03, 1.70192654e-03,
  3.25187084e-06, 2.73739434e-02, 8.63744997e-03, 1.66224915e-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: -0.001796471533405966
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09001007e-14,  6.18002013e-14,  1.00000000e+00, -1.90963244e-27,
        1.00000000e+00, -6.18002013e-14, -1.00000000e+00,  0.00000000e+00,
        3.09001007e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05528606, -0.03493123,  0.06182828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45789029e-05,-1.73312646e-05, 1.14347461e-05, 2.08789980e-05,
 -9.81684172e-06, 3.46860698e-05,-1.13492052e-05, 2.06658804e-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,
  4.60310147e-04,-2.66655794e-06,-4.90501732e+00, 8.91774349e-05,
  3.07987738e-02, 7.18398977e-03]


--- Step 2537 ---
qpos:
[-2.48892060e-03, 8.65856806e-01,-2.37360200e-02, 3.91353682e-04,
 -2.94118894e-03, 8.61892352e-01,-2.71263096e-02, 3.10131685e-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,
  7.21748574e-03,-4.27404855e-02, 7.93410794e-02, 7.00836468e-01,
 -8.71933180e-02,-7.02710393e-01,-8.61607432e-02]

qacc:
[-1.50254182e-01,-1.85649726e+00, 8.33210946e+00,-1.62075633e+01,
 -6.21565372e-03,-3.54931522e+00, 1.59490508e+01,-3.10482111e+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,
 -3.30469324e+00,-8.53494282e-01,-5.04357239e+00,-6.73284885e+00,
 -1.63182710e+02,-1.10858082e+02]

qfrc_actuator:
[ 2.37681175e-03, 2.73552312e-02, 8.74970560e-03, 1.68081599e-03,
  6.71635474e-06, 2.73590494e-02, 8.66600359e-03, 1.62043573e-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: -0.0017956335288993597
  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([ 0.05528749, -0.0349317 ,  0.06182833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74263339e-05, 1.21934899e-06, 1.81970139e-05,-2.10551935e-05,
 -1.19145549e-06, 3.03620264e-06, 3.50346237e-05,-4.03183983e-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,
  2.01986164e-06, 9.60413650e-06,-4.90499483e+00, 7.28445593e-05,
  3.07976614e-02, 7.18417016e-03]


--- Step 2538 ---
qpos:
[-2.48892254e-03, 8.65856316e-01,-2.37342598e-02, 3.90607107e-04,
 -2.94102793e-03, 8.61892602e-01,-2.71261371e-02, 3.10115875e-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,
  7.20651279e-03,-4.27628130e-02, 7.93194360e-02, 7.00670886e-01,
 -8.66937498e-02,-7.02872732e-01,-8.66857891e-02]

qacc:
[-2.02274359e-02,-4.88499444e+00, 2.28361185e+01,-4.99462281e+01,
  8.15181270e-03, 3.00173445e-01,-2.10090966e+00, 5.99940958e+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,
  7.05204247e-01,-3.65594852e+00, 6.41204503e-01, 5.45888738e+00,
  8.53051684e+01,-1.88025216e+02]

qfrc_actuator:
[ 2.38612767e-03, 2.72710439e-02, 8.74296784e-03, 1.59706789e-03,
  8.74431047e-06, 2.73500487e-02, 8.66495358e-03, 1.63149778e-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: -0.0017985913656854147
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08636816e-14, -3.08636816e-14,  1.00000000e+00,  9.52566842e-28,
        1.00000000e+00,  3.08636816e-14, -1.00000000e+00,  0.00000000e+00,
        3.08636816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00675263, -0.02200838,  0.06182791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76319241e-06,-8.06682650e-05,-4.98609387e-06,-8.34791552e-05,
  1.46289204e-06,-1.80193095e-06, 2.49550397e-06, 1.16198945e-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,
  4.93485957e-04, 3.57233297e-04,-4.90500084e+00, 7.97382587e-05,
  3.07943812e-02, 7.18743251e-03]


--- Step 2539 ---
qpos:
[-2.48851288e-03, 8.65854935e-01,-2.37318803e-02, 3.89222685e-04,
 -2.94084767e-03, 8.61893233e-01,-2.71272845e-02, 3.10152102e-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,
  7.20506654e-03,-4.27815125e-02, 7.93157463e-02, 7.00686120e-01,
 -8.63049511e-02,-7.02853271e-01,-8.71073866e-02]

qacc:
[ 2.16467368e-01,-4.21817960e+00, 1.60268174e+01,-2.74050238e+01,
  9.20066083e-03, 5.25827216e+00,-2.02169947e+01, 3.10599466e+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,
  2.38167672e+00, 9.06985094e-01, 4.48846482e+00,-2.49293371e+00,
  1.17950573e+02, 9.08875443e+01]

qfrc_actuator:
[ 2.42724678e-03, 2.72210991e-02, 8.77354424e-03, 1.56580901e-03,
  9.88745488e-06, 2.73623228e-02, 8.59321818e-03, 1.65581427e-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: -0.001797752727847559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.93089571e-07,  7.27474280e-14,  1.00000000e+00, -5.76952264e-20,
        1.00000000e+00, -7.27474280e-14, -1.00000000e+00,  0.00000000e+00,
        7.93089571e-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([ 0.00019958, -0.04625676,  0.06182784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93160282e-05,-9.96602499e-05, 1.04035357e-05,-3.65127593e-05,
  1.83715073e-06, 1.22727641e-05,-7.14010111e-05, 2.45514357e-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,
  3.15731021e-04, 6.85227432e-04,-4.90502916e+00, 3.54885981e-05,
  3.07944565e-02, 7.18738675e-03]


--- Step 2540 ---
qpos:
[-2.48783907e-03, 8.65853643e-01,-2.37299275e-02, 3.88801464e-04,
 -2.94083837e-03, 8.61893718e-01,-2.71282243e-02, 3.10109822e-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,
  7.21297549e-03,-4.27962266e-02, 7.93251117e-02, 7.00877424e-01,
 -8.60329109e-02,-7.02656952e-01,-8.74207189e-02]

qacc:
[ 1.38236413e-01, 3.29052154e+00,-1.56303248e+01, 3.29203320e+01,
 -8.98998153e-02,-2.38710526e+00, 1.15465260e+01,-2.53609469e+01,
  9.34522520e-02, 3.05401388e+00,-1.41035302e+01, 2.81837060e+01,
  5.76731986e-02,-3.06638476e-01, 7.12478999e+00,-2.38490284e+01,
  2.33880034e+00, 9.96367985e-01, 3.26375542e+00,-2.96309402e+00,
  1.14079863e+02, 9.42624645e+01]

qfrc_actuator:
[ 2.43375479e-03, 2.72809820e-02, 8.77281399e-03, 1.61900068e-03,
 -7.26295233e-06, 2.73514528e-02, 8.60468561e-03, 1.61668913e-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: -0.0018071952990298956
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30375563e-14, -6.14334834e-14,  1.00000000e+00,  1.41527733e-27,
        1.00000000e+00,  6.14334834e-14, -1.00000000e+00,  0.00000000e+00,
        2.30375563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078218, -0.04700508,  0.06182698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52451442e-05, 4.75942845e-06,-2.13017539e-05, 4.85717968e-05,
 -1.62762365e-05,-1.77081488e-05, 6.05798089e-06,-4.05926239e-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,
  5.52870633e-06, 6.72422537e-05,-4.90499671e+00,-3.55535343e-05,
  3.07943321e-02, 7.18795742e-03]


--- Step 2541 ---
qpos:
[-2.48718869e-03, 8.65852479e-01,-2.37281039e-02, 3.89338659e-04,
 -2.94120373e-03, 8.61893598e-01,-2.71277214e-02, 3.10052820e-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,
  7.20792665e-03,-4.28045664e-02, 7.93196327e-02, 7.00793912e-01,
 -8.58596764e-02,-7.02736471e-01,-8.76211235e-02]

qacc:
[-1.23614247e-02, 2.50320905e+00,-1.27245072e+01, 2.94247555e+01,
 -1.96196707e-01,-5.12943492e+00, 1.77533445e+01,-2.21702870e+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,
 -3.23944705e+00, 1.59358151e+00,-3.71109486e+00, 5.28464249e+00,
 -2.02391490e+02, 5.04095587e+01]

qfrc_actuator:
[ 2.41947895e-03, 2.72996231e-02, 8.77185083e-03, 1.66825888e-03,
 -3.52069697e-05, 2.73270718e-02, 8.68282806e-03, 1.61160685e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018107647730578047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53280956e-14,  7.66404782e-15,  1.00000000e+00, -1.17475258e-28,
        1.00000000e+00, -7.66404782e-15, -1.00000000e+00,  0.00000000e+00,
        1.53280956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04937428, -0.05879221,  0.06182673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23638921e-06, 1.90014083e-05,-9.28838293e-07, 4.96694822e-05,
 -3.56720016e-05,-3.47762453e-05, 7.38311448e-05,-6.41975415e-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,
  1.64242234e-04,-3.28382815e-04,-4.90498833e+00,-7.90691265e-05,
  3.07943022e-02, 7.18754858e-03]


--- Step 2542 ---
qpos:
[-2.48664161e-03, 8.65851260e-01,-2.37264783e-02, 3.90145117e-04,
 -2.94173276e-03, 8.61893097e-01,-2.71257822e-02, 3.10056266e-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,
  7.19086810e-03,-4.28070195e-02, 7.92974912e-02, 7.00456132e-01,
 -8.57780695e-02,-7.03071153e-01,-8.77170628e-02]

qacc:
[-5.42493216e-02, 1.03360330e+00,-4.92864877e+00, 9.94676285e+00,
 -8.51142766e-02,-3.26680224e+00, 8.37081465e+00, 6.84577417e-02,
  4.25858631e-02, 1.09058331e+00,-6.39482679e+00, 1.64971796e+01,
  3.40886276e-02,-7.04566922e-02, 3.97130621e+00,-1.45279874e+01,
 -3.00242983e+00, 1.47164483e+00,-4.16562874e+00, 4.86298349e+00,
 -1.87249398e+02, 4.67056316e+01]

qfrc_actuator:
[ 2.41066736e-03, 2.72756908e-02, 8.75286837e-03, 1.67927124e-03,
 -3.38498017e-05, 2.73306077e-02, 8.76415197e-03, 1.64437908e-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: -0.0018115529520296852
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06428532e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.06428532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04937182, -0.05879262,  0.06182663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.87531612e-06,-1.13604023e-05,-1.34598392e-05, 1.27591634e-05,
 -1.55814857e-05,-9.41746123e-07, 8.30146367e-05, 3.37137948e-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,
  6.81468466e-05, 1.14412378e-04,-4.90499420e+00,-6.39887441e-05,
  3.07966013e-02, 7.19034785e-03]


--- Step 2543 ---
qpos:
[-2.48638655e-03, 8.65850142e-01,-2.37248708e-02, 3.91045020e-04,
 -2.94214132e-03, 8.61893020e-01,-2.71240259e-02, 3.10168843e-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,
  7.18390726e-03,-4.28049453e-02, 7.92926481e-02, 7.00308544e-01,
 -8.58207367e-02,-7.03215151e-01,-8.76994632e-02]

qacc:
[-1.53139010e-01, 3.77129500e-01,-1.54441635e+00, 3.11608463e+00,
  6.32433064e-02, 3.31467719e+00,-1.56151029e+01, 3.44870503e+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,
  2.52443102e+00, 1.13184673e+00, 4.32458441e+00,-3.81733153e+00,
  1.23322560e+02, 9.99711029e+01]

qfrc_actuator:
[ 2.38747092e-03, 2.72973576e-02, 8.75870002e-03, 1.68539452e-03,
 -1.49730574e-05, 2.73686629e-02, 8.75805098e-03, 1.69917121e-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: -0.0018401464663035244
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01667026e-14, -6.03334052e-14,  1.00000000e+00,  1.82005989e-27,
        1.00000000e+00,  6.03334052e-14, -1.00000000e+00,  0.00000000e+00,
        3.01667026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075884, -0.04699642,  0.061824  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79054802e-05, 1.30935638e-05, 2.26404023e-06, 5.41738391e-06,
  1.14785229e-05, 5.61120446e-05, 5.08846827e-06, 5.82793227e-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,
  7.64053104e-04, 1.04475379e-04,-4.90502490e+00,-5.66832728e-05,
  3.07989825e-02, 7.19198900e-03]


--- Step 2544 ---
qpos:
[-2.48678714e-03, 8.65849299e-01,-2.37229862e-02, 3.91277061e-04,
 -2.94255913e-03, 8.61892924e-01,-2.71221248e-02, 3.10315129e-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,
  7.18630360e-03,-4.27986722e-02, 7.93009746e-02, 7.00337161e-01,
 -8.59785874e-02,-7.03182668e-01,-8.75767037e-02]

qacc:
[-3.43709125e-01,-1.78577591e+00, 9.71314593e+00,-2.19179763e+01,
 -4.75599205e-03, 2.64402340e-01,-2.40171033e+00, 8.01810268e+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,
  2.33929127e+00, 1.04971994e+00, 3.29243009e+00,-3.53462344e+00,
  1.14186575e+02, 9.26209159e+01]

qfrc_actuator:
[ 2.33812097e-03, 2.73284964e-02, 8.77931953e-03, 1.65314719e-03,
 -2.13085038e-05, 2.73380146e-02, 8.75379759e-03, 1.71318876e-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: -0.001848092689780062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.00369952e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.00369952e-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([-0.00075337, -0.04699482,  0.06182329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.26538161e-05, 3.91688177e-05, 2.37851529e-05,-3.15043510e-05,
 -8.80595714e-07, 4.26334448e-06, 9.96410174e-06, 1.77273693e-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,
  1.30082277e-04,-4.32711498e-05,-4.90500876e+00,-7.06855630e-05,
  3.08006169e-02, 7.19145608e-03]


--- Step 2545 ---
qpos:
[-2.48761853e-03, 8.65848434e-01,-2.37213129e-02, 3.91538277e-04,
 -2.94301925e-03, 8.61892039e-01,-2.71195581e-02, 3.10414468e-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,
  7.19744772e-03,-4.27884690e-02, 7.93189807e-02, 7.00530227e-01,
 -8.62440469e-02,-7.02985315e-01,-8.73556647e-02]

qacc:
[-2.25983910e-01, 6.22670470e-01,-2.38338729e+00, 3.24195024e+00,
 -2.16066171e-02,-3.86515979e+00, 1.42526257e+01,-2.28665479e+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,
  2.18694867e+00, 9.82510521e-01, 2.41988210e+00,-3.27680556e+00,
  1.06614936e+02, 8.65373738e+01]

qfrc_actuator:
[ 2.32681726e-03, 2.72940947e-02, 8.75526587e-03, 1.65185933e-03,
 -2.49370944e-05, 2.72486647e-02, 8.76815082e-03, 1.68530663e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018367526846604088
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.02224419e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.02224419e-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([-0.00076184, -0.0469972 ,  0.06182434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11741594e-05,-8.93834542e-06,-1.41314865e-05, 5.99022694e-07,
 -4.04647567e-06,-8.41638281e-05, 1.70584429e-05,-2.70145326e-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,
  1.64956034e-05, 3.93225887e-05,-4.90502037e+00,-5.66372837e-05,
  3.08028502e-02, 7.18979030e-03]


--- Step 2546 ---
qpos:
[-2.48853436e-03, 8.65847572e-01,-2.37199083e-02, 3.91438677e-04,
 -2.94333374e-03, 8.61891112e-01,-2.71181985e-02, 3.10483152e-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,
  7.21684021e-03,-4.27745549e-02, 7.93437188e-02, 7.00877856e-01,
 -8.66108046e-02,-7.02632545e-01,-8.70419796e-02]

qacc:
[-4.44629399e-02, 9.66769558e-03, 1.49112894e+00,-7.30655933e+00,
  7.59279925e-02, 2.68296954e+00,-8.35508106e+00, 5.01491710e+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,
  2.06208894e+00, 9.27748896e-01, 1.68300708e+00,-3.04002463e+00,
  1.00345320e+02, 8.15091736e+01]

qfrc_actuator:
[ 2.33837871e-03, 2.72915645e-02, 8.74029115e-03, 1.63321199e-03,
 -9.15218382e-06, 2.72491403e-02, 8.70432629e-03, 1.66846167e-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: -0.0018100117979330393
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13378888e-14, -6.13378888e-14,  1.00000000e+00,  3.76233661e-27,
        1.00000000e+00,  6.13378888e-14, -1.00000000e+00,  0.00000000e+00,
        6.13378888e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078137, -0.04700274,  0.06182679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.07233063e-06,-1.04175677e-05,-1.85466906e-05,-1.95085677e-05,
  1.38538336e-05,-4.42222181e-05,-8.00545287e-05,-2.03897959e-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,
  3.21495146e-04, 3.07077904e-04,-4.90505450e+00,-1.89683814e-05,
  3.08054765e-02, 7.18715797e-03]


--- Step 2547 ---
qpos:
[-2.48922785e-03, 8.65847005e-01,-2.37188356e-02, 3.90737366e-04,
 -2.94347926e-03, 8.61890332e-01,-2.71180312e-02, 3.10459540e-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,
  7.22397577e-03,-4.27544121e-02, 7.93522318e-02, 7.00965938e-01,
 -8.70675954e-02,-7.02540193e-01,-8.66213843e-02]

qacc:
[ 1.16230942e-01, 7.91738582e-02, 2.82434009e+00,-1.29237303e+01,
  8.81310852e-02, 1.62264414e+00,-1.61021583e+00,-1.25616378e+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,
 -3.06423076e+00, 1.55716572e+00,-4.05628547e+00, 6.10208284e+00,
 -1.90992173e+02, 4.65222791e+01]

qfrc_actuator:
[ 2.36348521e-03, 2.73258959e-02, 8.73090570e-03, 1.60452728e-03,
  3.57180346e-07, 2.72675742e-02, 8.64845934e-03, 1.62275863e-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: -0.0017778689101493328
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68351330e-14,  2.34175665e-14,  1.00000000e+00, -1.09676484e-27,
        1.00000000e+00, -2.34175665e-14, -1.00000000e+00,  0.00000000e+00,
        4.68351330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04942913, -0.05883231,  0.06182975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12573895e-05, 2.38504274e-05,-1.45005496e-05,-3.01530472e-05,
  1.60816701e-05,-2.36888609e-05,-7.55739470e-05,-5.07670865e-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,
  9.71254121e-04, 7.27429897e-04,-4.90510873e+00, 3.90691191e-05,
  3.08083099e-02, 7.18368274e-03]


--- Step 2548 ---
qpos:
[-2.48965581e-03, 8.65845444e-01,-2.37177509e-02, 3.92257921e-04,
 -2.94329850e-03, 8.61889361e-01,-2.71182446e-02, 3.10414544e-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,
  7.21702091e-03,-4.27377178e-02, 7.93418454e-02, 7.00786964e-01,
 -8.73934731e-02,-7.02712082e-01,-8.63466360e-02]

qacc:
[ 1.39683106e-01, 3.22682790e+00,-2.27895041e+01, 6.19548260e+01,
  1.71642845e-01, 3.71004510e-01,-7.86123839e-01,-2.16484664e+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,
 -3.52260338e+00,-8.62123342e-01,-4.72485517e+00,-5.53041366e+00,
 -1.74401584e+02,-1.20172531e+02]

qfrc_actuator:
[ 2.37869309e-03, 2.72045228e-02, 8.70729189e-03, 1.71222643e-03,
  2.37722493e-05, 2.72611058e-02, 8.63334022e-03, 1.61373767e-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: -0.0017720555203265126
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13258533e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.13258533e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05533763, -0.03494515,  0.06183031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53483420e-05,-1.12312708e-04,-2.15207568e-05, 1.07632087e-04,
  3.10478706e-05,-3.74775821e-05,-3.10751442e-05,-1.36386571e-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,
  1.30060094e-04, 3.71792894e-04,-4.90509947e+00, 3.55859533e-05,
  3.08072605e-02, 7.18578492e-03]


--- Step 2549 ---
qpos:
[-2.48967576e-03, 8.65842832e-01,-2.37167724e-02, 3.94383868e-04,
 -2.94263160e-03, 8.61888230e-01,-2.71184987e-02, 3.10494394e-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,
  7.21299350e-03,-4.27362346e-02, 7.93363371e-02, 7.00701427e-01,
 -8.74152584e-02,-7.02793053e-01,-8.63597506e-02]

qacc:
[ 2.14247706e-01, 1.52844568e-01,-5.11741747e+00, 1.65377866e+01,
  2.56129177e-01, 2.46929593e+00,-1.43850637e+01, 3.61787754e+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,
  7.31859840e-01,-3.80277903e+00, 1.21953364e+00, 5.56733227e+00,
  9.03941864e+01,-1.99703211e+02]

qfrc_actuator:
[ 2.40558232e-03, 2.71329193e-02, 8.69268249e-03, 1.73939932e-03,
  5.53058587e-05, 2.72754800e-02, 8.64233512e-03, 1.67964390e-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: -0.0017985432813601362
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08645067e-14, -3.08645067e-14,  1.00000000e+00,  9.52617776e-28,
        1.00000000e+00,  3.08645067e-14, -1.00000000e+00,  0.00000000e+00,
        3.08645067e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00676473, -0.02200569,  0.06182792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89635588e-05,-1.34210609e-04,-3.67303522e-05, 2.37101306e-05,
  4.62680609e-05,-1.35550373e-05,-3.03635264e-06, 6.29617473e-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,
  1.32614332e-04,-2.93232340e-04,-4.90508193e+00, 3.10269021e-05,
  3.08069720e-02, 7.18849059e-03]


--- Step 2550 ---
qpos:
[-2.48877792e-03, 8.65840551e-01,-2.37162164e-02, 3.94935736e-04,
 -2.94172750e-03, 8.61886869e-01,-2.71188557e-02, 3.10584768e-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,
  7.21170317e-03,-4.27488317e-02, 7.93324628e-02, 7.00702237e-01,
 -8.71553790e-02,-7.02790065e-01,-8.66397184e-02]

qacc:
[ 4.80717366e-01,-1.62186839e+00, 1.30619049e+01,-3.98708449e+01,
  1.24941468e-01, 2.01001298e-01,-1.60020924e+00, 3.75475858e+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,
  6.84269879e-01,-3.52006704e+00, 4.08503404e-01, 5.05870883e+00,
  8.35830467e+01,-1.85070019e+02]

qfrc_actuator:
[ 2.47473693e-03, 2.72336543e-02, 8.70134173e-03, 1.66572628e-03,
  5.59149464e-05, 2.72491484e-02, 8.63010559e-03, 1.68261390e-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: -0.001805238069243667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.22501339e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.22501339e-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([ 0.00676814, -0.02201196,  0.06182731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.77221767e-05, 1.91725305e-05,-2.27550250e-05,-8.02332616e-05,
  2.25700127e-05,-3.18074925e-05,-1.32146871e-05, 3.51002279e-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,
  4.56379175e-05,-7.39905504e-06,-4.90500311e+00, 5.70073001e-05,
  3.07997767e-02, 7.18592336e-03]


--- Step 2551 ---
qpos:
[-2.48757507e-03, 8.65838743e-01,-2.37160920e-02, 3.95271599e-04,
 -2.94071230e-03, 8.61885358e-01,-2.71190822e-02, 3.10640895e-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,
  7.21298712e-03,-4.27745651e-02, 7.93274555e-02, 7.00783162e-01,
 -8.66325279e-02,-7.02708565e-01,-8.71690202e-02]

qacc:
[ 1.59468289e-01, 1.38396668e+00,-3.11820490e+00,-2.75471750e-01,
  5.86303747e-02,-1.26799279e+00, 5.67795477e+00,-1.17039688e+01,
  1.45416834e-01,-1.47804905e-01, 1.58829974e+00,-8.47938348e+00,
  3.41352846e-02, 4.37436411e-02,-4.51463890e+00, 1.55966057e+01,
  6.43572027e-01,-3.28408521e+00,-2.83248420e-01, 4.60793993e+00,
  7.79159391e+01,-1.72869572e+02]

qfrc_actuator:
[ 2.46206199e-03, 2.72770561e-02, 8.68881588e-03, 1.65775141e-03,
  5.57764422e-05, 2.72517837e-02, 8.64072495e-03, 1.66621863e-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: -0.0017919937649560139
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09773127e-14, -9.29319381e-14,  1.00000000e+00,  2.87878171e-27,
        1.00000000e+00,  9.29319381e-14, -1.00000000e+00,  0.00000000e+00,
        3.09773127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0067647 , -0.02199837,  0.06182844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91625660e-05, 4.60439414e-05,-1.41355247e-05,-9.50255675e-06,
  1.05717089e-05,-1.76926899e-05, 2.55555362e-06,-1.81459889e-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,
  5.38029708e-06, 4.61840973e-05,-4.90500027e+00, 2.93816450e-05,
  3.07976389e-02, 7.18595401e-03]


--- Step 2552 ---
qpos:
[-2.48649884e-03, 8.65836858e-01,-2.37165187e-02, 3.96278681e-04,
 -2.93946383e-03, 8.61884231e-01,-2.71194584e-02, 3.10706446e-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,
  7.22289209e-03,-4.27969714e-02, 7.93366743e-02, 7.01029696e-01,
 -8.62064884e-02,-7.02460272e-01,-8.76092038e-02]

qacc:
[-6.66694251e-02, 2.81996210e+00,-1.30345819e+01, 2.55904746e+01,
  1.22622501e-01, 1.11955892e+00,-3.65322244e+00, 5.24244136e+00,
 -6.11931068e-02, 1.39512656e+00,-5.30492304e+00, 6.49301836e+00,
  3.40310472e-02,-7.22807357e-02, 7.08769168e+00,-2.39668757e+01,
  2.15525421e+00, 8.31776730e-01, 3.55653298e+00,-2.70602697e+00,
  1.08550814e+02, 7.96843279e+01]

qfrc_actuator:
[ 2.43604025e-03, 2.72325266e-02, 8.64600423e-03, 1.68846702e-03,
  7.29732275e-05, 2.73073180e-02, 8.64710889e-03, 1.67411507e-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: -0.0017904178987738937
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88904988e-08, -9.77808271e-08,  1.00000000e+00,  4.78055341e-15,
        1.00000000e+00,  9.77808271e-08, -1.00000000e+00,  0.00000000e+00,
        4.88904988e-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([ 0.00053584, -0.04599146,  0.06182853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21063648e-05,-2.20665773e-05,-3.53610254e-05, 3.20152361e-05,
  2.22132434e-05, 4.54298668e-05, 2.42954183e-06, 6.87539678e-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,
  2.30564660e-06,-8.59927047e-05,-4.90505799e+00,-4.45668142e-05,
  3.07993684e-02, 7.18815582e-03]


--- Step 2553 ---
qpos:
[-2.48527852e-03, 8.65834894e-01,-2.37174012e-02, 3.96950261e-04,
 -2.93818946e-03, 8.61883499e-01,-2.71200663e-02, 3.10746754e-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,
  7.21923086e-03,-4.28128218e-02, 7.93320416e-02, 7.00991073e-01,
 -8.58853616e-02,-7.02497801e-01,-8.79321283e-02]

qacc:
[ 7.52693823e-02, 4.76562825e-01,-4.36930667e-01,-4.58071636e+00,
  1.33422611e-02, 6.49370225e-01,-4.92015510e-01,-3.79617623e+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,
 -3.39155080e+00, 1.63897084e+00,-3.46289353e+00, 4.64064224e+00,
 -2.09990966e+02, 5.31385037e+01]

qfrc_actuator:
[ 2.45557795e-03, 2.72243607e-02, 8.62081857e-03, 1.67058555e-03,
  6.48993222e-05, 2.73231060e-02, 8.63342701e-03, 1.66078156e-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: -0.0018228464753660412
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52265021e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.52265021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934816, -0.05880466,  0.06182574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37662980e-05,-2.63939827e-05,-3.29755707e-05,-1.94253800e-05,
  2.47614609e-06, 4.20193327e-05,-3.75150032e-06,-1.11685039e-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,
  2.47753605e-04,-5.94280409e-04,-4.90504035e+00,-1.05939754e-04,
  3.07970092e-02, 7.18936907e-03]


--- Step 2554 ---
qpos:
[-2.48424444e-03, 8.65833384e-01,-2.37191042e-02, 3.96668275e-04,
 -2.93714568e-03, 8.61882965e-01,-2.71205018e-02, 3.10805066e-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,
  7.20305358e-03,-4.28226307e-02, 7.93115923e-02, 7.00689623e-01,
 -8.56607847e-02,-7.02798967e-01,-8.81470029e-02]

qacc:
[-9.83698619e-02, 9.28007242e-01, 1.58502063e+00,-1.71072479e+01,
 -1.21390288e-01, 1.49755815e-01,-9.15266223e-01, 3.61006119e+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,
 -3.12901102e+00, 1.51037834e+00,-3.95413404e+00, 4.41666874e+00,
 -1.93605640e+02, 4.89073691e+01]

qfrc_actuator:
[ 2.43122072e-03, 2.72735527e-02, 8.58858100e-03, 1.62428408e-03,
  4.17770543e-05, 2.73326341e-02, 8.64335265e-03, 1.67052431e-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: -0.0018331172742537538
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02823786e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.02823786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04933024, -0.05879696,  0.06182482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77908447e-05, 2.68420110e-05,-4.24034291e-05,-4.89486065e-05,
 -2.19414766e-05, 3.17931098e-05, 1.77648777e-05, 1.11969131e-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,
  3.58576492e-05, 1.46156564e-04,-4.90502357e+00,-8.33125143e-05,
  3.07983816e-02, 7.19041789e-03]


--- Step 2555 ---
qpos:
[-2.48382666e-03, 8.65832180e-01,-2.37215208e-02, 3.96190071e-04,
 -2.93654656e-03, 8.61882652e-01,-2.71207542e-02, 3.10770606e-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,
  7.19693151e-03,-4.28278000e-02, 7.93082042e-02, 7.00577907e-01,
 -8.55590344e-02,-7.02909717e-01,-8.82506472e-02]

qacc:
[-3.23687664e-01, 1.99396017e+00,-5.69396602e+00, 3.21566668e+00,
 -2.34199069e-01,-2.12702768e+00, 1.19258839e+01,-2.84399078e+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,
  2.51380068e+00, 1.15991170e+00, 4.26529154e+00,-4.21128072e+00,
  1.23205987e+02, 9.86479013e+01]

qfrc_actuator:
[ 2.38079924e-03, 2.72856472e-02, 8.55265939e-03, 1.61494076e-03,
  9.87190143e-06, 2.73384461e-02, 8.64937874e-03, 1.62277079e-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: -0.0018242125422661959
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.52150997e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.52150997e-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([-0.00077091, -0.04699682,  0.06182547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.88959268e-05, 1.62948315e-05,-3.72710355e-05,-1.06084810e-05,
 -4.23172325e-05, 2.77511816e-05, 1.51756309e-05,-4.55578210e-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,
  6.79161369e-04, 3.76552719e-04,-4.90503768e+00,-7.10751599e-05,
  3.08000699e-02, 7.19069462e-03]


--- Step 2556 ---
qpos:
[-2.48401702e-03, 8.65830746e-01,-2.37239038e-02, 3.95966432e-04,
 -2.93635930e-03, 8.61882417e-01,-2.71211403e-02, 3.10683298e-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,
  7.20013523e-03,-4.28286883e-02, 7.93177956e-02, 7.00642103e-01,
 -8.55711890e-02,-7.02844187e-01,-8.82511418e-02]

qacc:
[-3.18725486e-01, 1.25066146e-01,-1.96303425e+00, 6.48424448e+00,
 -2.17045841e-01,-6.10716484e-01, 4.55908525e+00,-1.35502838e+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,
  2.33144829e+00, 1.07025408e+00, 3.24486594e+00,-3.90019347e+00,
  1.14134850e+02, 9.14679879e+01]

qfrc_actuator:
[ 2.35074901e-03, 2.72576959e-02, 8.55025384e-03, 1.62739641e-03,
 -9.24403841e-06, 2.73241732e-02, 8.63523294e-03, 1.59481315e-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: -0.001831991842014935
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03009817e-14,  1.51504908e-14,  1.00000000e+00, -4.59074745e-28,
        1.00000000e+00, -1.51504908e-14, -1.00000000e+00,  0.00000000e+00,
        3.03009817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076552, -0.04699607,  0.06182478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.81270400e-05,-2.69514599e-05,-3.96958531e-06, 1.16642312e-05,
 -3.91999368e-05, 2.43224465e-06,-8.11597883e-06,-2.71283633e-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,
  9.63481709e-05, 6.91616515e-05,-4.90500464e+00,-1.03810927e-04,
  3.07991575e-02, 7.19171645e-03]


--- Step 2557 ---
qpos:
[-2.48449570e-03, 8.65829362e-01,-2.37258786e-02, 3.96176440e-04,
 -2.93611315e-03, 8.61881972e-01,-2.71210452e-02, 3.10631721e-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,
  7.21206471e-03,-4.28255889e-02, 7.93369167e-02, 7.00870599e-01,
 -8.56898091e-02,-7.02613928e-01,-8.81551342e-02]

qacc:
[-1.50907087e-01,-1.79953273e-01,-1.09076894e+00, 7.90469917e+00,
  3.14079807e-02,-8.86130631e-01, 1.24800921e+00, 4.32005552e+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,
  2.18144043e+00, 9.96889879e-01, 2.38243634e+00,-3.62319086e+00,
  1.06620456e+02, 8.55190077e+01]

qfrc_actuator:
[ 2.35091253e-03, 2.72948955e-02, 8.58524879e-03, 1.65255916e-03,
  1.49638671e-05, 2.73156564e-02, 8.66248529e-03, 1.61421015e-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: -0.0018207076392673105
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.52443891e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.52443891e-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([-0.00077394, -0.04699906,  0.06182584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75522284e-05, 2.18550283e-05, 2.93744292e-05, 2.41048866e-05,
  5.60061215e-06,-9.98990465e-06, 2.58224910e-05, 1.86950830e-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,
  2.75852018e-05,-1.02073374e-06,-4.90500093e+00,-1.08417292e-04,
  3.07991263e-02, 7.19144675e-03]


--- Step 2558 ---
qpos:
[-2.48473547e-03, 8.65827818e-01,-2.37265093e-02, 3.96992569e-04,
 -2.93531486e-03, 8.61881390e-01,-2.71206414e-02, 3.10638529e-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,
  7.21170759e-03,-4.28164060e-02, 7.93398542e-02, 7.00840125e-01,
 -8.59005448e-02,-7.02643958e-01,-8.79527406e-02]

qacc:
[ 1.26195516e-01,-2.71775241e+00, 6.82621537e+00, 1.62824919e+00,
  2.91068230e-01, 1.58525690e-01,-3.29260238e+00, 1.30045824e+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,
 -3.07165048e+00, 1.52091209e+00,-4.04588512e+00, 5.47094321e+00,
 -1.90810553e+02, 4.70754814e+01]

qfrc_actuator:
[ 2.38688038e-03, 2.72999857e-02, 8.66004871e-03, 1.68506524e-03,
  6.48600907e-05, 2.73108509e-02, 8.67850998e-03, 1.64359290e-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: -0.0018193730715309747
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52555713e-14,  2.28833570e-14,  1.00000000e+00, -3.49098684e-28,
        1.00000000e+00, -2.28833570e-14, -1.00000000e+00,  0.00000000e+00,
        1.52555713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935419, -0.05881277,  0.06182608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28361613e-05, 2.44561268e-05, 8.37936441e-05, 3.49334033e-05,
  5.25529717e-05,-4.24634487e-06, 1.77936982e-05, 3.02137225e-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,
  3.72886144e-04, 1.20245741e-04,-4.90502092e+00,-8.93101269e-05,
  3.07997317e-02, 7.19008248e-03]


--- Step 2559 ---
qpos:
[-2.48482177e-03, 8.65826483e-01,-2.37268480e-02, 3.97871608e-04,
 -2.93413330e-03, 8.61880875e-01,-2.71206814e-02, 3.10717637e-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,
  7.19990342e-03,-4.28015784e-02, 7.93249887e-02, 7.00568617e-01,
 -8.61975510e-02,-7.02915958e-01,-8.76513064e-02]

qacc:
[ 8.05745428e-02,-4.08270905e-01, 1.59316145e+00,-1.12618050e+00,
  2.01583898e-01, 2.81551527e+00,-1.29626952e+01, 2.61390919e+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,
 -2.86176166e+00, 1.41115911e+00,-4.45076667e+00, 4.85273533e+00,
 -1.77519807e+02, 4.40219535e+01]

qfrc_actuator:
[ 2.39066101e-03, 2.73037539e-02, 8.66886913e-03, 1.68612614e-03,
  7.63945867e-05, 2.73082828e-02, 8.65227282e-03, 1.67859765e-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: -0.0018055062628454105
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07454770e-14, -5.38045847e-14,  1.00000000e+00,  1.65424762e-27,
        1.00000000e+00,  5.38045847e-14, -1.00000000e+00,  0.00000000e+00,
        3.07454770e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04937803, -0.05882522,  0.06182731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46745792e-05, 3.62897054e-05, 2.54196424e-05, 5.69039957e-06,
  3.64800216e-05, 4.36643939e-08,-2.38753612e-05, 3.60262234e-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,
  5.92312830e-07,-1.10296941e-05,-4.90501623e+00,-8.71957387e-05,
  3.07996580e-02, 7.19068121e-03]


--- Step 2560 ---
qpos:
[-2.48518341e-03, 8.65826119e-01,-2.37279278e-02, 3.98385470e-04,
 -2.93307750e-03, 8.61880388e-01,-2.71210042e-02, 3.10802995e-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,
  7.19773105e-03,-4.27822200e-02, 7.93244915e-02, 7.00477388e-01,
 -8.66115125e-02,-7.03006589e-01,-8.72445442e-02]

qacc:
[-1.45184207e-01, 2.59937234e+00,-5.86785439e+00, 2.27313468e-02,
 -6.64141365e-02, 9.53626121e-01,-3.61269617e+00, 5.12786747e+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,
  2.40794959e+00, 1.13269157e+00, 3.59207363e+00,-4.12802320e+00,
  1.17226046e+02, 9.37172931e+01]

qfrc_actuator:
[ 2.35736657e-03, 2.73774330e-02, 8.63861644e-03, 1.66862068e-03,
  4.71074378e-05, 2.73069068e-02, 8.63681281e-03, 1.68109763e-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: -0.0018054399545200661
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.07466062e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.07466062e-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([-0.00078552, -0.04700528,  0.06182723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62902337e-05, 9.95003440e-05,-1.94173644e-05,-1.49593673e-05,
 -1.19704207e-05,-4.72320566e-06,-1.71430380e-05, 2.37584023e-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,
  3.58159336e-04,-5.08227280e-04,-4.90503454e+00,-8.81766551e-05,
  3.07998823e-02, 7.19016106e-03]


--- Step 2561 ---
qpos:
[-2.48588199e-03, 8.65826136e-01,-2.37286183e-02, 3.98682731e-04,
 -2.93245613e-03, 8.61879912e-01,-2.71220342e-02, 3.10824836e-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,
  7.20453470e-03,-4.27586528e-02, 7.93346905e-02, 7.00553937e-01,
 -8.71348702e-02,-7.02928202e-01,-8.67389128e-02]

qacc:
[-1.76557304e-01,-1.03023984e+00, 5.31808133e+00,-9.97041130e+00,
 -2.29285462e-01, 6.81531114e-01, 2.70820243e-01,-1.01393154e+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,
  2.24400409e+00, 1.05220679e+00, 2.67405915e+00,-3.66914253e+00,
  1.09117593e+02, 8.77192691e+01]

qfrc_actuator:
[ 2.33769976e-03, 2.73856986e-02, 8.65684673e-03, 1.65813097e-03,
  1.14356476e-05, 2.72885071e-02, 8.59233030e-03, 1.64671343e-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: -0.0018015430688208753
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08131136e-14, -3.08131136e-14,  1.00000000e+00,  9.49447970e-28,
        1.00000000e+00,  3.08131136e-14, -1.00000000e+00,  0.00000000e+00,
        3.08131136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078849, -0.04700731,  0.06182758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21887163e-05, 5.92671331e-05, 3.58813977e-05,-7.18880183e-06,
 -4.13544961e-05,-2.44680203e-05,-4.74826791e-05,-3.51335362e-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,
  1.26008577e-05,-1.26740408e-04,-4.90505230e+00,-3.88787410e-05,
  3.08025201e-02, 7.18883027e-03]


--- Step 2562 ---
qpos:
[-2.48685963e-03, 8.65826380e-01,-2.37286887e-02, 3.98510273e-04,
 -2.93245229e-03, 8.61879551e-01,-2.71233886e-02, 3.10766791e-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,
  7.21424547e-03,-4.27494208e-02, 7.93480695e-02, 7.00719415e-01,
 -8.73634860e-02,-7.02762571e-01,-8.65141128e-02]

qacc:
[-1.46022454e-01,-2.39759584e+00, 1.09690159e+01,-2.02596296e+01,
 -3.25514343e-01,-5.84443617e-01, 5.67938653e+00,-1.90726580e+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,
  7.26781130e-01,-3.58378132e+00, 7.94971248e-01, 4.62978123e+00,
  8.68332672e+01,-1.94302144e+02]

qfrc_actuator:
[ 2.32638128e-03, 2.73904230e-02, 8.68558011e-03, 1.63409556e-03,
 -2.77079436e-05, 2.73131568e-02, 8.58422980e-03, 1.60862401e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001787537999355951
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10545293e-14, -6.21090587e-14,  1.00000000e+00,  1.92876758e-27,
        1.00000000e+00,  6.21090587e-14, -1.00000000e+00,  0.00000000e+00,
        3.10545293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00676563, -0.02200116,  0.06182887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66597118e-05, 4.49703085e-05, 4.51515003e-05,-2.03935040e-05,
 -5.87762805e-05,-3.29506359e-07,-2.02080464e-05,-4.14623494e-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,
  1.20525041e-04, 4.24341717e-04,-4.90509449e+00, 3.39530468e-05,
  3.08055655e-02, 7.18629872e-03]


--- Step 2563 ---
qpos:
[-2.48784991e-03, 8.65827236e-01,-2.37282530e-02, 3.97663979e-04,
 -2.93317092e-03, 8.61879120e-01,-2.71248683e-02, 3.10768124e-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,
  7.22667937e-03,-4.27535603e-02, 7.93616742e-02, 7.00967812e-01,
 -8.73183974e-02,-7.02515987e-01,-8.65500559e-02]

qacc:
[-6.55721683e-03,-1.99182970e+00, 1.11199419e+01,-2.40422775e+01,
 -3.80513957e-01, 1.47760816e+00,-7.91195496e+00, 1.84424179e+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,
  6.80781190e-01,-3.34289848e+00, 5.64469196e-02, 4.39504902e+00,
  8.07275677e+01,-1.80405543e+02]

qfrc_actuator:
[ 2.33790131e-03, 2.74462814e-02, 8.72022884e-03, 1.60227250e-03,
 -6.85777516e-05, 2.73102684e-02, 8.58010583e-03, 1.63973974e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017867085780484196
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.10689454e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.10689454e-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([ 0.00676538, -0.0220003 ,  0.06182902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18728935e-06, 8.94504096e-05, 4.87933594e-05,-2.87304061e-05,
 -6.87698487e-05,-9.00929238e-06,-8.10171953e-06, 2.95994797e-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,
  2.33838038e-04, 2.48735378e-04,-4.90502165e+00, 6.20356433e-05,
  3.08002183e-02, 7.18533706e-03]


--- Step 2564 ---
qpos:
[-2.48858389e-03, 8.65828632e-01,-2.37276689e-02, 3.96821905e-04,
 -2.93429606e-03, 8.61878627e-01,-2.71263956e-02, 3.10806036e-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,
  7.22509841e-03,-4.27613571e-02, 7.93562292e-02, 7.00951224e-01,
 -8.71486655e-02,-7.02531334e-01,-8.67307095e-02]

qacc:
[ 1.34279362e-01, 3.07569801e-01,-7.89917693e-02,-4.82123774e-01,
 -2.14076140e-01, 8.03589720e-01,-4.52808623e+00, 1.09808267e+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,
 -3.50371175e+00,-9.14316577e-01,-4.76242762e+00,-7.37921077e+00,
 -1.73168702e+02,-1.17403591e+02]

qfrc_actuator:
[ 2.36296965e-03, 2.74613345e-02, 8.72278755e-03, 1.60167412e-03,
 -7.46260676e-05, 2.73087507e-02, 8.57829856e-03, 1.65804759e-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: -0.0017712345174393102
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.13403734e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.13403734e-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([ 0.05534399, -0.03496384,  0.06183045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45110277e-05, 7.38982260e-05, 2.60419564e-05, 4.36237709e-06,
 -3.86945351e-05,-6.94717618e-06,-3.62560209e-06, 1.82215819e-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,
  3.75407429e-04,-1.09867393e-04,-4.90501701e+00, 3.99648951e-05,
  3.07990042e-02, 7.18656369e-03]


--- Step 2565 ---
qpos:
[-2.48922251e-03, 8.65830329e-01,-2.37272176e-02, 3.96375523e-04,
 -2.93508561e-03, 8.61878503e-01,-2.71278373e-02, 3.10824531e-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,
  7.21051989e-03,-4.27725457e-02, 7.93302598e-02, 7.00688796e-01,
 -8.68632434e-02,-7.02789479e-01,-8.70456012e-02]

qacc:
[ 4.98257092e-02, 1.58269245e+00,-6.73664792e+00, 1.35769002e+01,
  1.76652512e-01,-1.50299439e-01, 2.06394319e+00,-5.83276849e+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,
 -3.24939449e+00,-8.47949514e-01,-5.13108378e+00,-6.78994572e+00,
 -1.60583366e+02,-1.08925860e+02]

qfrc_actuator:
[ 2.36039783e-03, 2.74517313e-02, 8.70624746e-03, 1.61940202e-03,
 -2.43032018e-05, 2.73613323e-02, 8.59560623e-03, 1.65090855e-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: -0.0017670372581368096
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14148165e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.14148165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05535187, -0.03496242,  0.06183078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.12122872e-06, 3.72527207e-05, 2.06755587e-06, 2.18777283e-05,
  3.19536560e-05, 4.87473328e-05, 1.60728281e-05,-7.20435860e-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,
  8.25856174e-06, 3.81836784e-05,-4.90500150e+00, 2.58842077e-05,
  3.07981827e-02, 7.18615499e-03]


--- Step 2566 ---
qpos:
[-2.48982981e-03, 8.65832281e-01,-2.37260508e-02, 3.95401629e-04,
 -2.93539737e-03, 8.61878502e-01,-2.71289997e-02, 3.10870625e-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,
  7.20524996e-03,-4.27805059e-02, 7.93232216e-02, 7.00603346e-01,
 -8.66799074e-02,-7.02870106e-01,-8.72648738e-02]

qacc:
[ 1.67555129e-02,-2.74656132e+00, 1.25100169e+01,-2.29737091e+01,
  2.51779413e-01,-4.96047063e-02,-7.52462559e-01, 4.99198254e+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,
  2.32715032e+00, 8.07098452e-01, 4.73279219e+00,-2.20485761e+00,
  1.15785312e+02, 8.47845774e+01]

qfrc_actuator:
[ 2.35905298e-03, 2.74806151e-02, 8.74948043e-03, 1.59447463e-03,
  6.00498269e-06, 2.73572038e-02, 8.60651623e-03, 1.66442027e-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: -0.001787288776163569
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21177193e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.21177193e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00077372, -0.04581602,  0.06182884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00486153e-06, 5.10383542e-05, 5.19229010e-05,-2.28367947e-05,
  4.54823618e-05, 2.61587409e-05, 2.27202549e-05, 1.60176616e-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,
  5.53583649e-04, 4.99153457e-04,-4.90501158e+00, 3.34919670e-05,
  3.07951607e-02, 7.18886025e-03]


--- Step 2567 ---
qpos:
[-2.49024253e-03, 8.65834455e-01,-2.37246305e-02, 3.94517956e-04,
 -2.93547919e-03, 8.61877496e-01,-2.71289050e-02, 3.10940375e-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,
  7.20935762e-03,-4.27845658e-02, 7.93297504e-02, 7.00694084e-01,
 -8.66120220e-02,-7.02774106e-01,-8.73768519e-02]

qacc:
[ 1.02101541e-01,-2.28387695e-01, 8.59942675e-01, 1.32410342e-01,
  1.22262560e-01,-4.34889680e+00, 1.25845316e+01,-9.76799356e+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,
  2.34439677e+00, 9.75067535e-01, 3.39174701e+00,-2.80624832e+00,
  1.14103647e+02, 9.35013407e+01]

qfrc_actuator:
[ 2.37622283e-03, 2.74792589e-02, 8.75677155e-03, 1.59797690e-03,
  6.27529159e-06, 2.72481375e-02, 8.64886489e-03, 1.67217733e-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: -0.0017991187015050317
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60537261e-07, -9.60537305e-07,  1.00000000e+00, -9.22631872e-13,
        1.00000000e+00,  9.60537305e-07, -1.00000000e+00,  2.01948392e-28,
       -9.60537261e-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([-0.00063373, -0.04688705,  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:
[ 1.86038552e-05, 3.68765813e-05, 2.34161415e-05, 7.03791873e-06,
  2.18632351e-05,-8.90463619e-05, 5.11128156e-05, 9.97622153e-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,
  7.30352976e-05, 1.27374962e-04,-4.90498897e+00,-9.78164627e-06,
  3.07964239e-02, 7.18849484e-03]


--- Step 2568 ---
qpos:
[-2.49045418e-03, 8.65836898e-01,-2.37242445e-02, 3.94112936e-04,
 -2.93563786e-03, 8.61875884e-01,-2.71282695e-02, 3.10915264e-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,
  7.22223034e-03,-4.27849479e-02, 7.93463334e-02, 7.00949332e-01,
 -8.66516452e-02,-7.02513098e-01,-8.73892093e-02]

qacc:
[ 1.04705666e-01, 4.22727761e+00,-1.65804285e+01, 2.63250231e+01,
 -3.99674302e-02,-4.26118329e+00, 1.80378366e+01,-3.48793283e+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,
  2.19126647e+00, 9.19478587e-01, 2.51352975e+00,-2.74452582e+00,
  1.06606527e+02, 8.70120769e+01]

qfrc_actuator:
[ 2.38657308e-03, 2.74596894e-02, 8.68941552e-03, 1.61813022e-03,
 -1.14203849e-05, 2.72192082e-02, 8.67348186e-03, 1.62315274e-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: -0.0017917460402271023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29765592e-07, -9.29765590e-07,  1.00000000e+00, -8.64464054e-13,
        1.00000000e+00,  9.29765590e-07, -1.00000000e+00,  0.00000000e+00,
       -9.29765592e-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([-0.00063933, -0.04688717,  0.06182845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92198691e-05, 6.13056261e-06,-5.66381683e-05, 2.26761223e-05,
 -7.32912004e-06,-6.77135645e-05, 1.28754617e-05,-5.08758415e-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,
  4.64617051e-05,-5.46263700e-05,-4.90498982e+00,-2.76558015e-05,
  3.07979282e-02, 7.18726567e-03]


--- Step 2569 ---
qpos:
[-2.49050531e-03, 8.65839046e-01,-2.37233243e-02, 3.93917146e-04,
 -2.93575716e-03, 8.61874770e-01,-2.71283662e-02, 3.10791666e-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,
  7.22256718e-03,-4.27790574e-02, 7.93472938e-02, 7.00938492e-01,
 -8.67856840e-02,-7.02519466e-01,-8.72918974e-02]

qacc:
[ 8.46047976e-02,-1.45099639e+00, 3.72481797e+00,-7.42438183e-01,
  2.00379417e-02, 6.75502269e-01, 2.70349262e+00,-1.89427485e+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,
 -3.13397174e+00, 1.56811004e+00,-3.90562679e+00, 5.58624168e+00,
 -1.96051180e+02, 4.83894355e+01]

qfrc_actuator:
[ 2.39274724e-03, 2.74468094e-02, 8.72047855e-03, 1.63009704e-03,
 -4.17558327e-06, 2.72916225e-02, 8.65216818e-03, 1.57665496e-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: -0.00179317770168555
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54784300e-14, -2.32176451e-14,  1.00000000e+00,  3.59372695e-28,
        1.00000000e+00,  2.32176451e-14, -1.00000000e+00,  0.00000000e+00,
        1.54784300e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04939588, -0.05884628,  0.06182842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53346569e-05,-2.02357099e-05, 2.61144081e-05, 1.07066428e-05,
  3.75794962e-06, 3.50633045e-05,-3.54645388e-05,-4.99411679e-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,
  4.33425452e-04,-3.20773985e-05,-4.90501359e+00,-2.10282740e-05,
  3.07996200e-02, 7.18520505e-03]


--- Step 2570 ---
qpos:
[-2.49062760e-03, 8.65840330e-01,-2.37212420e-02, 3.94931366e-04,
 -2.93543883e-03, 8.61874190e-01,-2.71294109e-02, 3.10614270e-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,
  7.21124143e-03,-4.27673629e-02, 7.93309351e-02, 7.00680659e-01,
 -8.70080198e-02,-7.02773842e-01,-8.70927427e-02]

qacc:
[-3.62140694e-02,-1.89361799e+00,-7.38248955e-03, 1.97206049e+01,
  2.29663504e-01, 2.24351526e+00,-4.70744206e+00,-3.47616493e+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,
 -2.91564751e+00, 1.45102212e+00,-4.32979380e+00, 4.93461461e+00,
 -1.81951193e+02, 4.51659173e+01]

qfrc_actuator:
[ 2.37862325e-03, 2.73851418e-02, 8.77393309e-03, 1.69048780e-03,
  3.57006588e-05, 2.73174650e-02, 8.60435268e-03, 1.54984161e-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: -0.001787197896680845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10604390e-14, -6.21208780e-14,  1.00000000e+00,  1.92950174e-27,
        1.00000000e+00,  6.21208780e-14, -1.00000000e+00,  0.00000000e+00,
        3.10604390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04940546, -0.05885298,  0.06182895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.81996637e-06,-6.71868439e-05, 5.28391960e-05, 6.06315941e-05,
  4.16656481e-05, 3.60151266e-05,-4.66607805e-05,-2.75072556e-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,
  2.88642830e-06, 2.67820290e-06,-4.90501713e+00,-1.60612999e-05,
  3.08007485e-02, 7.18802205e-03]


--- Step 2571 ---
qpos:
[-2.49068599e-03, 8.65841470e-01,-2.37190325e-02, 3.96986095e-04,
 -2.93485190e-03, 8.61873708e-01,-2.71306472e-02, 3.10441016e-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,
  7.20877744e-03,-4.27522938e-02, 7.93306601e-02, 7.00591117e-01,
 -8.73258635e-02,-7.02859151e-01,-8.68060754e-02]

qacc:
[ 3.36888090e-02, 1.59412480e+00,-1.03551608e+01, 2.82669437e+01,
  1.41302392e-01, 7.49629737e-01,-2.66055555e+00, 3.61323442e+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,
  2.21544034e+00, 8.43653208e-01, 4.02095137e+00,-2.75034533e+00,
  1.10400359e+02, 7.89029973e+01]

qfrc_actuator:
[ 2.38799310e-03, 2.74014027e-02, 8.78672297e-03, 1.74334319e-03,
  4.14838557e-05, 2.73151296e-02, 8.59440263e-03, 1.55253861e-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: -0.001785954422286913
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.21641298e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.21641298e-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([ 0.00077227, -0.04581164,  0.06182896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10384379e-06,-7.84745673e-06, 7.49425828e-06, 5.29798048e-05,
  2.55670566e-05, 7.01849084e-06,-9.19815272e-06, 2.09391173e-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,
  3.43608693e-04,-3.60011799e-04,-4.90504408e+00,-1.54583430e-05,
  3.08020515e-02, 7.18953915e-03]


--- Step 2572 ---
qpos:
[-2.49046973e-03, 8.65843186e-01,-2.37172628e-02, 3.99258537e-04,
 -2.93429156e-03, 8.61872820e-01,-2.71315546e-02, 3.10378825e-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,
  7.20915861e-03,-4.27517041e-02, 7.93336080e-02, 7.00591066e-01,
 -8.73495976e-02,-7.02857154e-01,-8.67987717e-02]

qacc:
[ 1.43532564e-01, 2.43672587e+00,-8.50362921e+00, 1.25534486e+01,
 -1.35895773e-02, 8.30697785e-01,-8.42842086e+00, 2.74227449e+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,
  7.11290237e-01,-3.61986872e+00, 8.05713452e-01, 4.96677267e+00,
  8.69958981e+01,-1.93522367e+02]

qfrc_actuator:
[ 2.41135266e-03, 2.74640487e-02, 8.77568419e-03, 1.75585760e-03,
  2.68052147e-05, 2.72783572e-02, 8.60679482e-03, 1.60808286e-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: -0.0017948978426454015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09271926e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.09271926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00677712, -0.02200518,  0.06182818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62640900e-05, 6.20285368e-05,-9.93199764e-06, 1.34606476e-05,
 -2.54119183e-06,-3.46306727e-05, 1.27967949e-05, 5.55721907e-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,
  2.04426145e-05,-1.10097040e-04,-4.90505536e+00, 1.90553609e-05,
  3.08048672e-02, 7.18740555e-03]


--- Step 2573 ---
qpos:
[-2.49034971e-03, 8.65844456e-01,-2.37160476e-02, 4.01803551e-04,
 -2.93365211e-03, 8.61871759e-01,-2.71323163e-02, 3.10312899e-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,
  7.21220741e-03,-4.27645971e-02, 7.93367977e-02, 7.00674104e-01,
 -8.71000386e-02,-7.02774132e-01,-8.70511472e-02]

qacc:
[-5.06405556e-02, 1.52090570e+00,-7.42878701e+00, 1.33621806e+01,
  4.18163425e-02,-7.12123517e-01, 2.36527233e+00,-3.11805316e+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,
  6.66907063e-01,-3.37065097e+00, 6.04334507e-02, 4.58708633e+00,
  8.07848005e+01,-1.79862801e+02]

qfrc_actuator:
[ 2.38961184e-03, 2.73585832e-02, 8.71535893e-03, 1.76232664e-03,
  3.55424832e-05, 2.72746450e-02, 8.61439571e-03, 1.60548654e-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: -0.0017929217940218095
  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([ 0.0067771 , -0.02200309,  0.06182838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.21476132e-06,-7.23102166e-05,-4.83034294e-05, 9.03529650e-06,
  7.52572713e-06,-1.80243150e-05, 3.96416817e-06,-2.55143607e-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,
  5.22236422e-07, 2.42682621e-07,-4.90500088e+00, 3.51938629e-05,
  3.08001824e-02, 7.18607536e-03]


--- Step 2574 ---
qpos:
[-2.49078347e-03, 8.65845059e-01,-2.37151103e-02, 4.04072362e-04,
 -2.93310989e-03, 8.61871081e-01,-2.71332129e-02, 3.10204611e-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,
  7.22369060e-03,-4.27739931e-02, 7.93517045e-02, 7.00918934e-01,
 -8.69479132e-02,-7.02528541e-01,-8.72144306e-02]

qacc:
[-2.90288521e-01,-6.72223965e-01, 2.28593286e+00,-6.13263606e+00,
 -5.14484523e-02, 1.11020786e-02, 2.48316659e+00,-9.88066706e+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,
  2.10859798e+00, 8.74248450e-01, 2.92929409e+00,-2.85864727e+00,
  1.05684187e+02, 7.95711791e+01]

qfrc_actuator:
[ 2.34107182e-03, 2.73128160e-02, 8.69676311e-03, 1.74727388e-03,
  2.27289667e-05, 2.73262038e-02, 8.61917347e-03, 1.58646222e-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: -0.001779003103886405
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17618553e-06, -2.44996354e-14,  1.00000000e+00,  2.88161166e-20,
        1.00000000e+00,  2.44996354e-14, -1.00000000e+00,  0.00000000e+00,
        1.17618553e-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([ 0.00018557, -0.04625491,  0.06182961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.29460889e-05,-9.58358132e-05,-3.91918230e-05,-1.96537278e-05,
 -9.24334483e-06, 4.22228498e-05, 1.47076599e-06,-1.97052226e-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,
  1.85601379e-05,-9.37474843e-05,-4.90501463e+00, 9.00071589e-07,
  3.07998058e-02, 7.18705008e-03]


--- Step 2575 ---
qpos:
[-2.49178102e-03, 8.65846006e-01,-2.37148496e-02, 4.05349623e-04,
 -2.93269617e-03, 8.61870540e-01,-2.71343380e-02, 3.10216285e-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,
  7.22229871e-03,-4.27771292e-02, 7.93513574e-02, 7.00893978e-01,
 -8.68950436e-02,-7.02553526e-01,-8.72664073e-02]

qacc:
[-2.96190771e-01, 3.00972983e-01, 3.76791162e+00,-2.00965727e+01,
 -6.78050950e-02, 3.28527339e+00,-1.65181955e+01, 3.75485753e+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,
 -3.21877001e+00, 1.56494824e+00,-3.81348661e+00, 4.38331363e+00,
 -1.98758709e+02, 5.03458653e+01]

qfrc_actuator:
[ 2.31245357e-03, 2.73920295e-02, 8.68539737e-03, 1.70199516e-03,
  1.48822996e-05, 2.73216751e-02, 8.60472714e-03, 1.64674548e-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: -0.001776861837046173
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12411185e-14, -4.68616778e-14,  1.00000000e+00,  1.46401123e-27,
        1.00000000e+00,  4.68616778e-14, -1.00000000e+00,  0.00000000e+00,
        3.12411185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04942299, -0.05886723,  0.06182989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38780511e-05, 1.66569728e-05,-3.66821238e-05,-5.11279863e-05,
 -1.22289348e-05, 1.85648202e-05,-6.21281380e-06, 6.17635333e-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,
  3.27958612e-04,-2.73787169e-04,-4.90501391e+00,-1.88232215e-05,
  3.07984437e-02, 7.18723886e-03]


--- Step 2576 ---
qpos:
[-2.49284791e-03, 8.65847268e-01,-2.37148521e-02, 4.06047178e-04,
 -2.93202071e-03, 8.61869673e-01,-2.71351189e-02, 3.10302113e-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,
  7.20896421e-03,-4.27744674e-02, 7.93340070e-02, 7.00618900e-01,
 -8.69342869e-02,-7.02829351e-01,-8.72151887e-02]

qacc:
[-3.66564866e-02,-4.03504665e-02, 3.19708929e+00,-1.30409358e+01,
  1.38224471e-01, 1.35080706e-01,-4.23602936e+00, 1.67589469e+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,
 -2.98565503e+00, 1.44949601e+00,-4.25080963e+00, 4.04723384e+00,
 -1.84271236e+02, 4.67096104e+01]

qfrc_actuator:
[ 2.33152519e-03, 2.74212211e-02, 8.67887968e-03, 1.67491196e-03,
  4.55911815e-05, 2.72835873e-02, 8.61439901e-03, 1.68214898e-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: -0.0017756205137088171
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68944384e-14,  7.81573974e-15,  1.00000000e+00, -3.66514726e-28,
        1.00000000e+00, -7.81573974e-15, -1.00000000e+00,  0.00000000e+00,
        4.68944384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04942533, -0.05886884,  0.06183   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.61854917e-06, 2.87087889e-05,-9.37635880e-06,-2.86373199e-05,
  2.49053638e-05,-2.63238415e-05, 1.48914459e-05, 3.71885320e-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,
  6.12342326e-06, 9.58033904e-06,-4.90500096e+00,-8.22675835e-06,
  3.07989174e-02, 7.18755580e-03]


--- Step 2577 ---
qpos:
[-2.49382321e-03, 8.65848665e-01,-2.37148803e-02, 4.06075807e-04,
 -2.93084542e-03, 8.61868607e-01,-2.71359916e-02, 3.10327582e-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,
  7.20532733e-03,-4.27672954e-02, 7.93320987e-02, 7.00526469e-01,
 -8.70909319e-02,-7.02921589e-01,-8.70578833e-02]

qacc:
[ 4.79181958e-02,-1.12836258e+00, 7.10349070e+00,-1.87380857e+01,
  2.63222716e-01,-1.24775675e+00, 6.61617944e+00,-1.67704399e+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,
  2.42440719e+00, 1.12755902e+00, 3.86052606e+00,-3.91315735e+00,
  1.18766175e+02, 9.43646914e+01]

qfrc_actuator:
[ 2.34343651e-03, 2.74202886e-02, 8.67512798e-03, 1.64097820e-03,
  8.13419147e-05, 2.72612768e-02, 8.60255538e-03, 1.64934494e-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: -0.0017852477724379667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21881372e-09, -1.21883449e-09,  1.00000000e+00, -1.48553219e-18,
        1.00000000e+00,  1.21883449e-09, -1.00000000e+00,  0.00000000e+00,
       -1.21881372e-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([-0.00064374, -0.0468889 ,  0.06182905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75670648e-06, 1.19280543e-05, 2.11330810e-08,-3.35886420e-05,
  4.75690757e-05,-3.23329615e-05,-1.41467689e-05,-3.26915494e-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,
  4.64823030e-04,-1.37143977e-04,-4.90501531e+00,-3.97323698e-06,
  3.07997458e-02, 7.18717707e-03]


--- Step 2578 ---
qpos:
[-2.49467652e-03, 8.65850062e-01,-2.37155136e-02, 4.06791399e-04,
 -2.92940225e-03, 8.61867928e-01,-2.71372942e-02, 3.10342913e-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,
  7.21032675e-03,-4.27564252e-02, 7.93426350e-02, 7.00597604e-01,
 -8.73453779e-02,-7.02849530e-01,-8.68119802e-02]

qacc:
[ 6.36170000e-02, 3.10445212e+00,-1.39684901e+01, 2.68272238e+01,
  1.40660725e-01, 1.50083592e+00,-4.18414642e+00, 2.83516095e+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,
  2.15907528e+00, 9.24517222e-01, 3.11113061e+00,-3.14654221e+00,
  1.06919021e+02, 7.96799950e+01]

qfrc_actuator:
[ 2.35091848e-03, 2.74013376e-02, 8.63739836e-03, 1.67426575e-03,
  8.42697020e-05, 2.73194465e-02, 8.59585344e-03, 1.64767543e-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: -0.0017870483968826876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.29668405e-07, -1.17267517e-13,  1.00000000e+00,  3.86593951e-20,
        1.00000000e+00,  1.17267517e-13, -1.00000000e+00,  0.00000000e+00,
        3.29668405e-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([ 0.00019138, -0.04625676,  0.06182889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16565933e-05,-1.37454198e-05,-3.64362314e-05, 3.31433010e-05,
  2.55050511e-05, 3.58057434e-05,-1.62396880e-05,-4.17872119e-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,
  3.50768454e-05,-8.10980828e-05,-4.90500761e+00, 6.01526007e-06,
  3.08003107e-02, 7.18713562e-03]


--- Step 2579 ---
qpos:
[-2.49505033e-03, 8.65851250e-01,-2.37167856e-02, 4.07930396e-04,
 -2.92838075e-03, 8.61867376e-01,-2.71380901e-02, 3.10387357e-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,
  7.21810117e-03,-4.27591545e-02, 7.93540772e-02, 7.00752901e-01,
 -8.73211855e-02,-7.02695263e-01,-8.68317361e-02]

qacc:
[ 2.51080653e-01, 2.37840961e+00,-1.06702623e+01, 1.91759027e+01,
 -2.21778688e-01,-6.47044107e-01, 1.32304113e+00, 2.81029056e+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,
  6.93750986e-01,-3.39983935e+00, 2.26498527e-01, 4.35469824e+00,
  8.20708694e+01,-1.83737087e+02]

qfrc_actuator:
[ 2.39118104e-03, 2.73716549e-02, 8.59762433e-03, 1.69353986e-03,
  3.20304924e-05, 2.73366357e-02, 8.62811643e-03, 1.66442585e-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: -0.0017832648272027574
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.11289442e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.11289442e-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([ 0.00677478, -0.02199685,  0.0618293 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58166361e-05,-4.35004625e-05,-4.59614444e-05, 1.80670876e-05,
 -4.01275681e-05, 3.37075353e-05, 3.75274001e-05, 1.76432538e-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,
  6.45097702e-05, 1.50577678e-04,-4.90502311e+00, 3.92659030e-05,
  3.08012671e-02, 7.18598005e-03]


--- Step 2580 ---
qpos:
[-2.49512973e-03, 8.65851292e-01,-2.37178100e-02, 4.09006491e-04,
 -2.92770366e-03, 8.61866374e-01,-2.71382164e-02, 3.10492346e-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,
  7.22848391e-03,-4.27746419e-02, 7.93638073e-02, 7.00986860e-01,
 -8.70366398e-02,-7.02464016e-01,-8.70996612e-02]

qacc:
[ 1.54916247e-01,-2.33479864e+00, 6.39372242e+00,-7.03782162e+00,
 -1.80771487e-01,-1.21639028e+00, 9.21759840e-01, 8.81371756e+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,
  6.52077439e-01,-3.18955216e+00,-4.28044839e-01, 4.12040113e+00,
  7.67481641e+01,-1.71650997e+02]

qfrc_actuator:
[ 2.39744779e-03, 2.72647324e-02, 8.59240465e-03, 1.68664206e-03,
  1.82839911e-05, 2.72760833e-02, 8.64748862e-03, 1.69187629e-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: -0.0017687360743698366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27692871e-14, -6.27692871e-14,  1.00000000e+00,  3.93998340e-27,
        1.00000000e+00,  6.27692871e-14, -1.00000000e+00,  0.00000000e+00,
        6.27692871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00676989, -0.02198223,  0.06183064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81072411e-05,-1.39979263e-04,-1.92425432e-05,-1.00025157e-05,
 -3.27912281e-05,-3.31839219e-05, 3.15786237e-05, 3.05387020e-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,
  1.47556585e-04,-3.98656321e-05,-4.90500631e+00, 3.05678755e-05,
  3.07995415e-02, 7.18645559e-03]


--- Step 2581 ---
qpos:
[-2.49521675e-03, 8.65850579e-01,-2.37187486e-02, 4.10298554e-04,
 -2.92709108e-03, 8.61865740e-01,-2.71383275e-02, 3.10519896e-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,
  7.22558518e-03,-4.27838066e-02, 7.93588576e-02, 7.00945023e-01,
 -8.68560941e-02,-7.02508986e-01,-8.72537559e-02]

qacc:
[-3.67209830e-03,-7.92438030e-01, 4.66207795e-01, 3.68865408e+00,
 -3.41433443e-02,-1.15043046e+00, 8.07530728e+00,-2.17727873e+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,
 -3.32036557e+00, 1.58068640e+00,-3.66995200e+00, 3.55655440e+00,
 -2.03163455e+02, 5.23935803e+01]

qfrc_actuator:
[ 2.38331030e-03, 2.72545078e-02, 8.60728660e-03, 1.69986331e-03,
  2.77245336e-05, 2.73291850e-02, 8.65876063e-03, 1.65430543e-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: -0.0017702180301119239
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13583696e-14,  3.13583696e-14,  1.00000000e+00, -9.83347343e-28,
        1.00000000e+00, -3.13583696e-14, -1.00000000e+00,  0.00000000e+00,
        3.13583696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04943757, -0.05887677,  0.06183056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.51023724e-07,-9.28921833e-05,-1.67393434e-05, 6.36370795e-06,
 -6.13001281e-06, 4.23953645e-05, 9.37428761e-06,-3.73043301e-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,
  2.57632608e-04,-3.94186711e-04,-4.90504802e+00,-2.36310826e-05,
  3.08012785e-02, 7.18890025e-03]


--- Step 2582 ---
qpos:
[-2.49558181e-03, 8.65850353e-01,-2.37205980e-02, 4.10610626e-04,
 -2.92663843e-03, 8.61865897e-01,-2.71385070e-02, 3.10428178e-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,
  7.21040906e-03,-4.27871184e-02, 7.93373915e-02, 7.00648017e-01,
 -8.67714420e-02,-7.02809601e-01,-8.73025659e-02]

qacc:
[-1.46561617e-01, 1.17014254e+00, 8.98060224e-01,-1.67580992e+01,
 -8.46164351e-02,-1.21837598e+00, 1.08961630e+01,-3.20117012e+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,
 -3.06934652e+00, 1.46322062e+00,-4.12908709e+00, 3.44513752e+00,
 -1.87981618e+02, 4.83480536e+01]

qfrc_actuator:
[ 2.35711457e-03, 2.73378746e-02, 8.58103450e-03, 1.65389176e-03,
  1.54299072e-05, 2.73965848e-02, 8.66555925e-03, 1.59661208e-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: -0.0017749579877153893
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12746283e-14, -3.12746283e-14,  1.00000000e+00,  9.78102372e-28,
        1.00000000e+00,  3.12746283e-14, -1.00000000e+00,  0.00000000e+00,
        3.12746283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04942972, -0.05887245,  0.06183011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65631249e-05, 2.82610731e-05,-4.72682767e-05,-5.04056911e-05,
 -1.51988213e-05, 9.14591498e-05, 1.54237396e-05,-5.62780977e-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,
  2.66677731e-05, 6.28091535e-05,-4.90502119e+00,-8.44448855e-06,
  3.08009464e-02, 7.18744056e-03]


--- Step 2583 ---
qpos:
[-2.49624058e-03, 8.65850410e-01,-2.37227620e-02, 4.09662645e-04,
 -2.92634001e-03, 8.61866649e-01,-2.71389281e-02, 3.10409828e-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,
  7.20511058e-03,-4.27857073e-02, 7.93324968e-02, 7.00537575e-01,
 -8.68059216e-02,-7.02922632e-01,-8.72445498e-02]

qacc:
[-1.54350656e-01,-1.34180306e+00, 1.06442519e+01,-3.21559562e+01,
 -8.15552834e-02, 2.97063746e+00,-1.25477531e+01, 2.51969227e+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,
  2.46940719e+00, 1.18072649e+00, 4.14284635e+00,-4.28959123e+00,
  1.21439597e+02, 9.55694041e+01]

qfrc_actuator:
[ 2.34170997e-03, 2.73521871e-02, 8.56656943e-03, 1.59126673e-03,
  7.96802251e-06, 2.74187348e-02, 8.65199861e-03, 1.63408909e-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: -0.001783248726261579
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.31856518e-07, -5.31856479e-07,  1.00000000e+00, -2.82871335e-13,
        1.00000000e+00,  5.31856479e-07, -1.00000000e+00,  0.00000000e+00,
       -5.31856518e-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([-0.00064387, -0.04689655,  0.06182926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80645034e-05, 1.82108749e-05,-1.61799489e-05,-6.40284448e-05,
 -1.46646795e-05, 7.40635953e-05, 5.28223717e-06, 4.08349533e-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,
  5.99967414e-04, 5.63832053e-05,-4.90502584e+00,-1.34760163e-06,
  3.08012056e-02, 7.18572419e-03]


--- Step 2584 ---
qpos:
[-2.49675996e-03, 8.65850437e-01,-2.37241468e-02, 4.07589886e-04,
 -2.92597540e-03, 8.61867200e-01,-2.71391541e-02, 3.10478361e-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,
  7.20898880e-03,-4.27799515e-02, 7.93401950e-02, 7.00600269e-01,
 -8.69512695e-02,-7.02861735e-01,-8.70868622e-02]

qacc:
[ 7.35188533e-02,-4.52911729e+00, 2.08423809e+01,-4.15367484e+01,
  3.51087636e-02, 9.76141568e-01,-7.53543879e+00, 2.24094382e+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,
  2.29417638e+00, 1.08619069e+00, 3.14821290e+00,-3.87548734e+00,
  1.12609767e+02, 8.89793049e+01]

qfrc_actuator:
[ 2.36841221e-03, 2.73605826e-02, 8.61220267e-03, 1.53707430e-03,
  2.12167020e-05, 2.73603555e-02, 8.64417559e-03, 1.67396111e-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: -0.0017901217505017085
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94524409e-07, -8.94524451e-07,  1.00000000e+00, -8.00173956e-13,
        1.00000000e+00,  8.94524451e-07, -1.00000000e+00,  0.00000000e+00,
       -8.94524409e-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([-0.00063888, -0.04689695,  0.06182863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33247947e-05, 1.25092131e-05, 4.52037059e-05,-5.52135445e-05,
  6.29599061e-06,-1.41407645e-05, 9.53503815e-06, 4.40224372e-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,
  7.27784825e-05,-4.11692732e-05,-4.90499900e+00,-9.93569001e-06,
  3.07997060e-02, 7.18722583e-03]


--- Step 2585 ---
qpos:
[-2.49741544e-03, 8.65850445e-01,-2.37246867e-02, 4.04877248e-04,
 -2.92568414e-03, 8.61866893e-01,-2.71387654e-02, 3.10530791e-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,
  7.22083674e-03,-4.27709466e-02, 7.93585005e-02, 7.00814701e-01,
 -8.71815556e-02,-7.02648395e-01,-8.68525359e-02]

qacc:
[-7.08480760e-02,-3.70097322e+00, 1.58620659e+01,-2.82765965e+01,
 -3.79441774e-02,-3.17911647e+00, 1.03726549e+01,-1.35157541e+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,
  1.99243024e+00, 8.12252770e-01, 2.65184730e+00,-2.86161141e+00,
  9.96958618e+01, 6.99312710e+01]

qfrc_actuator:
[ 2.34905242e-03, 2.73656264e-02, 8.65742160e-03, 1.50606282e-03,
  1.12277144e-05, 2.72719707e-02, 8.65720770e-03, 1.66158363e-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: -0.0017787061250057745
  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([ 0.00076949, -0.04582523,  0.06182968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30030482e-05, 1.90255761e-05, 5.14746619e-05,-2.99808163e-05,
 -7.00288867e-06,-9.24486242e-05, 1.28065068e-05,-1.17979347e-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,
  3.99774238e-05, 7.14176342e-05,-4.90500064e+00, 7.72269649e-06,
  3.07990726e-02, 7.18736846e-03]


--- Step 2586 ---
qpos:
[-2.49843950e-03, 8.65850606e-01,-2.37253503e-02, 4.03240526e-04,
 -2.92549143e-03, 8.61865809e-01,-2.71379086e-02, 3.10602621e-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,
  7.23541082e-03,-4.27749791e-02, 7.93760550e-02, 7.01109583e-01,
 -8.71443722e-02,-7.02356162e-01,-8.68736650e-02]

qacc:
[-1.93314465e-01, 2.76161536e+00,-1.40956138e+01, 3.28028962e+01,
 -5.13257665e-02,-1.93377416e+00, 4.58739075e+00,-1.40981015e+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,
  6.81533692e-01,-3.25934809e+00,-1.87770623e-01, 4.05636144e+00,
  7.86593098e+01,-1.76549394e+02]

qfrc_actuator:
[ 2.32002776e-03, 2.73686609e-02, 8.64875678e-03, 1.55993544e-03,
  5.16182355e-06, 2.72373299e-02, 8.68225538e-03, 1.67179667e-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: -0.0017586385996074677
  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([ 0.00676347, -0.02197939,  0.06183155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52222177e-05, 2.30279935e-05, 5.77583092e-07, 5.58907680e-05,
 -9.40144308e-06,-8.41938142e-05, 7.12288794e-06, 6.46552553e-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,
  3.68350626e-04, 3.12485544e-04,-4.90502127e+00, 4.36767387e-05,
  3.07988255e-02, 7.18654088e-03]


--- Step 2587 ---
qpos:
[-2.49944322e-03, 8.65850267e-01,-2.37261419e-02, 4.03728777e-04,
 -2.92501102e-03, 8.61864386e-01,-2.71372017e-02, 3.10684756e-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,
  7.23690460e-03,-4.27732691e-02, 7.93783872e-02, 7.01132437e-01,
 -8.71975983e-02,-7.02336393e-01,-8.67955998e-02]

qacc:
[ 1.08665194e-02, 4.06940467e+00,-2.44398518e+01, 6.17904501e+01,
  1.51560597e-01, 1.82504680e-01,-1.73701824e+00, 4.01080954e+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,
 -3.27007446e+00, 1.43564933e+00,-3.80555912e+00, 3.12354975e+00,
 -1.99292678e+02, 4.28350869e+01]

qfrc_actuator:
[ 2.33874899e-03, 2.72993149e-02, 8.62614492e-03, 1.66327868e-03,
  3.70096091e-05, 2.72351980e-02, 8.67890770e-03, 1.67752078e-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: -0.001767818808379469
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61249092e-07,  1.61249023e-07,  1.00000000e+00, -2.60012586e-14,
        1.00000000e+00, -1.61249023e-07, -1.00000000e+00, -3.15544362e-30,
        1.61249092e-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([ 0.04971325, -0.05780028,  0.06183085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92819611e-06,-5.39539888e-05,-1.58427048e-05, 1.05441528e-04,
  2.73744804e-05,-4.74461278e-05,-1.96336039e-05, 2.48920881e-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,
  5.36411889e-04,-1.20586781e-04,-4.90502417e+00, 1.81684707e-05,
  3.07982967e-02, 7.18810959e-03]


--- Step 2588 ---
qpos:
[-2.50012984e-03, 8.65849190e-01,-2.37264715e-02, 4.05787633e-04,
 -2.92438362e-03, 8.61862711e-01,-2.71368197e-02, 3.10669589e-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,
  7.22517706e-03,-4.27750435e-02, 7.93606417e-02, 7.00903271e-01,
 -8.71327901e-02,-7.02565760e-01,-8.68552536e-02]

qacc:
[ 1.66881704e-01, 9.68307625e-01,-1.14959298e+01, 3.84806703e+01,
  7.72332167e-02,-1.42740724e+00, 8.71492178e+00,-2.48518468e+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,
 -3.30532949e+00,-8.71121680e-01,-5.01943352e+00,-7.15949326e+00,
 -1.64713862e+02,-1.11528806e+02]

qfrc_actuator:
[ 2.36812365e-03, 2.72581434e-02, 8.64847646e-03, 1.74156697e-03,
  3.80008514e-05, 2.72169392e-02, 8.65895375e-03, 1.62730697e-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([ 8.63636364, -1.59399071, -8.48798978, -1.59399071, 52.93712845,
       -8.31940301, -8.48798978, -8.31940301, 10.19869482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017714202276450583
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13370878e-14, -3.13370878e-14,  1.00000000e+00,  9.82013073e-28,
        1.00000000e+00,  3.13370878e-14, -1.00000000e+00,  0.00000000e+00,
        3.13370878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05535045, -0.0349816 ,  0.06183055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02873240e-05,-7.00809343e-05, 1.28946403e-05, 7.74823073e-05,
  1.39799464e-05,-4.87070599e-05,-3.20816165e-05,-5.28779755e-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,
  6.11376349e-06, 1.14148176e-05,-4.90499609e+00, 2.39884129e-05,
  3.07975335e-02, 7.18619793e-03]


--- Step 2589 ---
qpos:
[-2.50048027e-03, 8.65848691e-01,-2.37275683e-02, 4.07648090e-04,
 -2.92387038e-03, 8.61861143e-01,-2.71371805e-02, 3.10627201e-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,
  7.20193292e-03,-4.27712847e-02, 7.93251394e-02, 7.00431682e-01,
 -8.71584799e-02,-7.03037725e-01,-8.68148348e-02]

qacc:
[ 1.75566299e-01, 2.49731979e+00,-6.95996953e+00, 4.33129144e+00,
 -6.06423080e-02, 1.65484085e+00,-4.54731923e+00, 9.47761036e-01,
  1.13651708e-01, 2.72899971e+00,-1.28952989e+01, 2.91346856e+01,
 -3.64833640e-02,-7.40481339e-01,-2.00875556e+00, 6.66209326e+00,
 -2.87914846e+00, 1.38329339e+00,-4.43919089e+00, 3.41255829e+00,
 -1.78467102e+02, 4.57641602e+01]

qfrc_actuator:
[ 2.38583284e-03, 2.73408296e-02, 8.62622477e-03, 1.73351614e-03,
  2.05038244e-05, 2.72423103e-02, 8.62927081e-03, 1.61557580e-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: -0.0017552684862712428
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18595428e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.18595428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0494665 , -0.05888854,  0.06183185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21437028e-05, 4.95106856e-05,-3.24473068e-05,-9.09970173e-06,
 -1.08657008e-05,-1.07165590e-05,-4.55148972e-05,-1.59553750e-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,
  3.55752280e-04, 5.05877551e-05,-4.90501408e+00, 2.83188829e-05,
  3.07991523e-02, 7.18636513e-03]


--- Step 2590 ---
qpos:
[-2.50055999e-03, 8.65849288e-01,-2.37294746e-02, 4.07951429e-04,
 -2.92370976e-03, 8.61860370e-01,-2.71385994e-02, 3.10598821e-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,
  7.18198800e-03,-4.27830652e-02, 7.92961305e-02, 7.00054814e-01,
 -8.68674930e-02,-7.03416549e-01,-8.70772909e-02]

qacc:
[ 1.40952795e-01, 5.03048708e-01, 6.87871562e+00,-3.33356756e+01,
 -1.86661194e-01, 4.29167464e+00,-1.43715404e+01, 1.79087026e+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,
  8.24802774e-01,-3.88480344e+00, 1.62333405e+00, 4.52380271e+00,
  9.28602927e+01,-2.09218895e+02]

qfrc_actuator:
[ 2.39639680e-03, 2.74257992e-02, 8.59602017e-03, 1.65704997e-03,
 -7.88383221e-06, 2.73291063e-02, 8.59429842e-03, 1.62662261e-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: -0.0017966924115508584
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26889058e-14,  3.08963019e-14,  1.00000000e+00, -2.86374442e-27,
        1.00000000e+00, -3.08963019e-14, -1.00000000e+00,  0.00000000e+00,
        9.26889058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00677507, -0.02202298,  0.061828  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58995333e-05, 1.05586102e-04,-2.42820772e-05,-7.56462483e-05,
 -3.35459466e-05, 7.07597959e-05,-4.33297189e-05, 8.70555083e-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,
  1.39371510e-03,-2.73577708e-04,-4.90504738e+00, 3.09285735e-05,
  3.08006339e-02, 7.18614842e-03]


--- Step 2591 ---
qpos:
[-2.50044546e-03, 8.65850026e-01,-2.37308761e-02, 4.07712786e-04,
 -2.92370736e-03, 8.61859950e-01,-2.71397392e-02, 3.10476583e-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,
  7.17238357e-03,-4.27900092e-02, 7.92862962e-02, 6.99874652e-01,
 -8.67051485e-02,-7.03597799e-01,-8.72228554e-02]

qacc:
[ 1.02084012e-01,-2.33926281e+00, 1.08994792e+01,-2.11922208e+01,
 -8.33279389e-02,-2.24507087e+00, 1.26436126e+01,-2.95958438e+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,
  2.58512299e+00, 1.20911966e+00, 4.79366635e+00,-3.97502053e+00,
  1.27661668e+02, 1.03305573e+02]

qfrc_actuator:
[ 2.40260465e-03, 2.74048740e-02, 8.61465096e-03, 1.62973584e-03,
 -7.01646487e-06, 2.73455103e-02, 8.61002271e-03, 1.58002227e-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: -0.001836715790469165
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02230489e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.02230489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075999, -0.04701272,  0.06182433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85721356e-05, 2.98647622e-05, 3.48374587e-05,-2.51028982e-05,
 -1.50472860e-05, 4.74215176e-05, 2.53188394e-05,-4.48951324e-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,
  1.07031645e-03, 5.94336771e-04,-4.90507127e+00, 5.30999719e-05,
  3.08055316e-02, 7.18541967e-03]


--- Step 2592 ---
qpos:
[-2.50020076e-03, 8.65849832e-01,-2.37309629e-02, 4.07576766e-04,
 -2.92358702e-03, 8.61859642e-01,-2.71405944e-02, 3.10337052e-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,
  7.17233853e-03,-4.27925064e-02, 7.92912182e-02, 6.99876155e-01,
 -8.66616044e-02,-7.03596998e-01,-8.72605264e-02]

qacc:
[ 6.94079745e-02,-4.69070405e+00, 1.45070109e+01,-1.41530840e+01,
  6.22460083e-02,-1.00192861e+00, 4.51775137e+00,-8.04908510e+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,
  2.38984778e+00, 1.11170181e+00, 3.68906256e+00,-3.67975299e+00,
  1.17757250e+02, 9.53648315e+01]

qfrc_actuator:
[ 2.40616699e-03, 2.73031760e-02, 8.66159232e-03, 1.63152064e-03,
  1.13505559e-05, 2.73375571e-02, 8.61974566e-03, 1.57086681e-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: -0.0018534846459706406
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99496148e-14, -1.19798459e-13,  1.00000000e+00,  3.58791771e-27,
        1.00000000e+00,  1.19798459e-13, -1.00000000e+00,  0.00000000e+00,
        2.99496148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074776, -0.04700999,  0.06182281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24212869e-05,-7.88826110e-05, 5.65378377e-05, 3.78228285e-06,
  1.12304792e-05, 2.18886341e-05, 2.10967806e-05,-7.11712085e-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,
  2.51303698e-04, 1.64581501e-04,-4.90501986e+00, 6.58073644e-06,
  3.08033874e-02, 7.18755326e-03]


--- Step 2593 ---
qpos:
[-2.49968766e-03, 8.65848627e-01,-2.37300728e-02, 4.08534073e-04,
 -2.92348258e-03, 8.61859021e-01,-2.71406225e-02, 3.10327486e-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,
  7.18120897e-03,-4.27908761e-02, 7.93071605e-02, 7.00046699e-01,
 -8.67286588e-02,-7.03426839e-01,-8.71977084e-02]

qacc:
[ 1.41740331e-01,-1.81223815e+00,-8.97713368e-02, 1.81895423e+01,
 -7.66424776e-03,-4.74515105e-02,-5.91494228e+00, 2.73138892e+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,
  2.22886986e+00, 1.03186224e+00, 2.75508098e+00,-3.41516831e+00,
  1.09553581e+02, 8.87870435e+01]

qfrc_actuator:
[ 2.42588104e-03, 2.72427942e-02, 8.70675568e-03, 1.68584225e-03,
  4.49923548e-06, 2.73150888e-02, 8.66125613e-03, 1.63704593e-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: -0.0018491923060837481
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00191338e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00191338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075085, -0.0470115 ,  0.06182323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56270616e-05,-9.26460705e-05, 3.59701475e-05, 5.29733411e-05,
 -1.51785388e-06,-6.15887935e-06, 4.83952541e-05, 6.77121944e-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,
  1.65869933e-07, 8.17790251e-07,-4.90500116e+00,-9.12869982e-06,
  3.08021929e-02, 7.18833268e-03]


--- Step 2594 ---
qpos:
[-2.49929848e-03, 8.65847857e-01,-2.37298243e-02, 4.11096452e-04,
 -2.92342926e-03, 8.61858329e-01,-2.71402109e-02, 3.10465927e-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,
  7.19846610e-03,-4.27853792e-02, 7.93309675e-02, 7.00375680e-01,
 -8.68994739e-02,-7.03097677e-01,-8.70404846e-02]

qacc:
[-6.54405031e-02, 5.66933111e+00,-2.61566001e+01, 5.46447988e+01,
 -2.65383910e-02, 1.72346268e+00,-1.25298293e+01, 3.74956117e+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,
  2.09667310e+00, 9.66660560e-01, 1.96616953e+00,-3.17679428e+00,
  1.02761647e+02, 8.33410702e+01]

qfrc_actuator:
[ 2.40183793e-03, 2.73319221e-02, 8.69740634e-03, 1.77065419e-03,
  3.56205571e-07, 2.73197960e-02, 8.68567730e-03, 1.71151714e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018280142142461653
  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([-0.00076616, -0.04701637,  0.06182518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18339103e-05, 4.70423623e-05,-2.22183344e-05, 8.31179379e-05,
 -4.86593119e-06, 1.41739090e-05, 3.14610017e-05, 7.72016331e-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,
  2.01284027e-04, 4.93426441e-05,-4.90500802e+00, 8.45406666e-07,
  3.08016972e-02, 7.18797098e-03]


--- Step 2595 ---
qpos:
[-2.49930609e-03, 8.65848078e-01,-2.37299675e-02, 4.13528376e-04,
 -2.92342625e-03, 8.61857653e-01,-2.71395266e-02, 3.10761634e-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,
  7.22362142e-03,-4.27763007e-02, 7.93601446e-02, 7.00853311e-01,
 -8.71665669e-02,-7.02618800e-01,-8.67954441e-02]

qacc:
[-2.08638311e-01, 2.13348215e+00,-5.15815374e+00, 2.80063566e+00,
 -2.62370535e-02, 2.49539672e+00,-1.55066313e+01, 4.22794091e+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,
  1.97454589e+00, 8.95395308e-01, 1.34253691e+00,-2.90028615e+00,
  9.66805118e+01, 7.75730734e+01]

qfrc_actuator:
[ 2.36957811e-03, 2.74209508e-02, 8.69208220e-03, 1.76629547e-03,
 -2.12026270e-06, 2.73229398e-02, 8.69990153e-03, 1.79026333e-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: -0.0017933763835964167
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02126777e-06, -1.02126790e-06,  1.00000000e+00, -1.04298799e-12,
        1.00000000e+00,  1.02126790e-06, -1.00000000e+00, -4.03896783e-28,
       -1.02126777e-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([-0.00063533, -0.04690557,  0.06182836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78968110e-05, 1.14315838e-04, 4.53109189e-06,-1.49757401e-06,
 -4.78606228e-06, 2.08847207e-05, 2.37001097e-05, 8.19434479e-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,
  7.70930781e-04, 2.71140148e-04,-4.90503664e+00, 3.27300104e-05,
  3.08016820e-02, 7.18662762e-03]


--- Step 2596 ---
qpos:
[-2.49933137e-03, 8.65848936e-01,-2.37297057e-02, 4.14152005e-04,
 -2.92364877e-03, 8.61856284e-01,-2.71377333e-02, 3.11152772e-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,
  7.25127322e-03,-4.27797619e-02, 7.93869051e-02, 7.01408392e-01,
 -8.71778019e-02,-7.02063553e-01,-8.67932383e-02]

qacc:
[-9.32048191e-03,-4.01093974e+00, 2.31562943e+01,-5.55698121e+01,
 -1.17776547e-01,-2.04724844e+00, 1.94439668e+00, 1.33045061e+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,
  6.24122169e-01,-3.13492831e+00,-6.04165039e-01, 4.41064651e+00,
  7.56582012e+01,-1.68291486e+02]

qfrc_actuator:
[ 2.38596861e-03, 2.74381802e-02, 8.70693265e-03, 1.67402257e-03,
 -2.13297970e-05, 2.72540762e-02, 8.74350406e-03, 1.83538462e-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: -0.0017579571418289835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34184834e-14,  3.15770788e-14,  1.00000000e+00, -1.37102887e-27,
        1.00000000e+00, -3.15770788e-14, -1.00000000e+00,  0.00000000e+00,
        4.34184834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00676206, -0.02198485,  0.06183162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66692448e-06, 8.20118936e-05, 3.89628939e-05,-8.72515046e-05,
 -2.14803559e-05,-4.87747210e-05, 5.36675732e-05, 4.84268565e-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,
  1.64166128e-03, 6.31490704e-04,-4.90508486e+00, 8.31756131e-05,
  3.08019110e-02, 7.18445121e-03]


--- Step 2597 ---
qpos:
[-2.49944772e-03, 8.65850497e-01,-2.37295494e-02, 4.13347141e-04,
 -2.92409719e-03, 8.61854882e-01,-2.71363858e-02, 3.11528283e-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,
  7.26344606e-03,-4.27871975e-02, 7.93967905e-02, 7.01670754e-01,
 -8.70495721e-02,-7.01797732e-01,-8.69509582e-02]

qacc:
[-4.81324545e-02,-1.71677796e+00, 1.34994795e+01,-3.85706360e+01,
 -1.19256352e-01, 8.78330857e-01,-2.53719151e+00, 5.71346009e-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,
 -3.86974218e+00,-9.93597948e-01,-4.21875092e+00,-7.42733841e+00,
 -1.91233535e+02,-1.30361986e+02]

qfrc_actuator:
[ 2.37807099e-03, 2.74655452e-02, 8.69774266e-03, 1.60174173e-03,
 -3.26311910e-05, 2.72492268e-02, 8.71502494e-03, 1.82481499e-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: -0.0018017457895874792
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08096467e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.08096467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05529143, -0.0349958 ,  0.06182793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68371969e-06, 7.75105745e-05, 9.51887659e-06,-6.91201941e-05,
 -2.15051965e-05,-1.89549143e-05,-3.02728089e-05,-9.86514881e-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,
  1.96653180e-03,-2.20267872e-04,-4.90507464e+00, 3.54470147e-05,
  3.07974223e-02, 7.18657080e-03]


--- Step 2598 ---
qpos:
[-2.50002740e-03, 8.65852323e-01,-2.37296060e-02, 4.11746940e-04,
 -2.92453437e-03, 8.61853910e-01,-2.71361397e-02, 3.11817782e-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,
  7.26245580e-03,-4.27882222e-02, 7.93922307e-02, 7.01654955e-01,
 -8.70239856e-02,-7.01811404e-01,-8.69936899e-02]

qacc:
[-2.43190395e-01,-6.92518579e-01, 6.33428043e+00,-1.99532643e+01,
  5.02183316e-03, 1.87339536e+00,-2.22544324e+00,-1.12124728e+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,
 -3.29077427e+00, 1.60272836e+00,-3.61132994e+00, 4.38257884e+00,
 -2.05129627e+02, 5.21012923e+01]

qfrc_actuator:
[ 2.33792833e-03, 2.74454127e-02, 8.67447675e-03, 1.55955227e-03,
 -2.13444825e-05, 2.72824036e-02, 8.66216063e-03, 1.78155966e-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: -0.0018248814666206106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66166643e-14,  6.08380898e-14,  1.00000000e+00, -1.61930701e-27,
        1.00000000e+00, -6.08380898e-14, -1.00000000e+00,  0.00000000e+00,
        2.66166643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935196, -0.05884081,  0.06182595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42762599e-05, 2.21770950e-05,-8.48910741e-06,-3.98863944e-05,
  1.07674678e-06, 1.59174474e-05,-6.08553912e-05,-4.53124738e-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,
  3.90901935e-04,-2.79198022e-04,-4.90500641e+00,-8.59295919e-06,
  3.07951404e-02, 7.18503160e-03]


--- Step 2599 ---
qpos:
[-2.50088872e-03, 8.65853232e-01,-2.37283195e-02, 4.10389407e-04,
 -2.92489333e-03, 8.61853384e-01,-2.71366666e-02, 3.12085209e-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,
  7.24928006e-03,-4.27833216e-02, 7.93713504e-02, 7.01382199e-01,
 -8.70933524e-02,-7.02083259e-01,-8.69301803e-02]

qacc:
[-1.46477004e-01,-4.46097668e+00, 1.31269996e+01,-1.04064978e+01,
  4.05400966e-02, 2.29194689e+00,-6.38730555e+00, 3.47878438e+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,
 -3.04636923e+00, 1.48132102e+00,-4.08011321e+00, 4.01779204e+00,
 -1.89498347e+02, 4.81811218e+01]

qfrc_actuator:
[ 2.33210524e-03, 2.73614334e-02, 8.73167807e-03, 1.57086114e-03,
 -1.44043315e-05, 2.73201928e-02, 8.63100455e-03, 1.77271717e-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: -0.001828613978073157
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.41515738e-14, -6.07139089e-14,  1.00000000e+00,  2.07347554e-27,
        1.00000000e+00,  6.07139089e-14, -1.00000000e+00,  0.00000000e+00,
        3.41515738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934448, -0.05883812,  0.06182559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69358312e-05,-7.50848214e-05, 5.93447707e-05, 1.11891203e-05,
  7.45469148e-06, 3.21976026e-05,-3.69338074e-05,-1.11522990e-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,
  2.62782430e-06, 3.81077025e-06,-4.90499854e+00, 2.25717117e-06,
  3.07961662e-02, 7.18660045e-03]


--- Step 2600 ---
qpos:
[-2.50154408e-03, 8.65853414e-01,-2.37260295e-02, 4.09177368e-04,
 -2.92517050e-03, 8.61853540e-01,-2.71372067e-02, 3.12331482e-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,
  7.22475954e-03,-4.27729108e-02, 7.93325301e-02, 7.00870002e-01,
 -8.72511703e-02,-7.02595066e-01,-8.67677732e-02]

qacc:
[ 1.08872494e-01,-3.46252607e+00, 1.03398465e+01,-8.89595147e+00,
  4.28099534e-02, 5.02668077e-01, 4.08889656e-01,-4.55017284e+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,
 -2.83619582e+00, 1.37754083e+00,-4.48500076e+00, 3.70084463e+00,
 -1.76353762e+02, 4.48761120e+01]

qfrc_actuator:
[ 2.36463016e-03, 2.73289847e-02, 8.78243106e-03, 1.57804387e-03,
 -1.01435979e-05, 2.73960670e-02, 8.64849069e-03, 1.76647441e-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: -0.0018108303212032856
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98145076e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.98145076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04937184, -0.05885089,  0.06182701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96681442e-05,-6.17299051e-05, 4.29300090e-05, 6.23730808e-06,
  7.80396862e-06, 8.57864694e-05, 1.92032755e-05,-6.36151652e-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,
  4.45785352e-04,-1.68915078e-04,-4.90502118e+00, 6.12627032e-06,
  3.07975666e-02, 7.18740366e-03]


--- Step 2601 ---
qpos:
[-2.50189568e-03, 8.65853404e-01,-2.37244233e-02, 4.08109552e-04,
 -2.92538132e-03, 8.61854282e-01,-2.71375242e-02, 3.12533292e-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,
  7.20362100e-03,-4.27785980e-02, 7.93017435e-02, 7.00456192e-01,
 -8.70817355e-02,-7.03010075e-01,-8.69179445e-02]

qacc:
[ 1.58901182e-01, 1.95286251e+00,-7.94092966e+00, 1.16739471e+01,
  3.48501869e-02,-7.63078604e-01, 5.72077336e+00,-1.42034936e+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,
  8.45494675e-01,-4.02447431e+00, 2.00842867e+00, 4.96549875e+00,
  9.63182358e+01,-2.16010224e+02]

qfrc_actuator:
[ 2.38428368e-03, 2.73098788e-02, 8.74035423e-03, 1.58275103e-03,
 -7.52535985e-06, 2.74233669e-02, 8.65920632e-03, 1.74411795e-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: -0.0017889049161197088
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71519503e-14, -6.20616006e-14,  1.00000000e+00,  1.68509349e-27,
        1.00000000e+00,  6.20616006e-14, -1.00000000e+00,  0.00000000e+00,
        2.71519503e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00677465, -0.02201762,  0.06182868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90220875e-05,-4.45072248e-05,-4.93384518e-05, 3.66795204e-06,
  6.33308297e-06, 7.89608057e-05, 3.05777638e-05,-1.81440050e-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,
  1.54998132e-03,-7.04507494e-04,-4.90506530e+00, 5.95507477e-06,
  3.07993424e-02, 7.18756799e-03]


--- Step 2602 ---
qpos:
[-2.50197948e-03, 8.65853051e-01,-2.37230516e-02, 4.07786074e-04,
 -2.92535713e-03, 8.61855560e-01,-2.71379751e-02, 3.12744394e-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,
  7.19229285e-03,-4.27801521e-02, 7.92908992e-02, 7.00229688e-01,
 -8.70248478e-02,-7.03236856e-01,-8.69654246e-02]

qacc:
[ 1.40416528e-01, 1.73249766e+00,-9.97866777e+00, 2.34893484e+01,
  1.23506061e-01, 1.27145975e+00,-3.89837268e+00, 5.32732394e+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,
  2.45259899e+00, 1.03324250e+00, 4.98557612e+00,-3.34545505e+00,
  1.22399022e+02, 9.18619042e+01]

qfrc_actuator:
[ 2.39603418e-03, 2.72985342e-02, 8.73262864e-03, 1.62142118e-03,
  1.18427369e-05, 2.74390988e-02, 8.64787650e-03, 1.74791625e-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: -0.0018182530612024482
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.45086083e-07,  7.90901271e-14,  1.00000000e+00, -1.93838894e-20,
        1.00000000e+00, -7.90901271e-14, -1.00000000e+00,  0.00000000e+00,
        2.45086083e-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([ 0.00021604, -0.04626755,  0.06182592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55836083e-05,-4.62715480e-05,-2.28804118e-05, 3.51261896e-05,
  2.23839175e-05, 6.54052518e-05, 8.11056187e-06, 7.88216486e-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,
  1.19283805e-03, 2.96585550e-04,-4.90505272e+00, 5.34693858e-05,
  3.08019417e-02, 7.18551598e-03]


--- Step 2603 ---
qpos:
[-2.50167766e-03, 8.65853335e-01,-2.37224728e-02, 4.06803873e-04,
 -2.92491431e-03, 8.61857115e-01,-2.71378201e-02, 3.12853028e-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,
  7.19055090e-03,-4.27772840e-02, 7.92947070e-02, 7.00184637e-01,
 -8.70869580e-02,-7.03281549e-01,-8.69045306e-02]

qacc:
[ 2.01417006e-01, 1.69944859e+00,-2.05910252e+00,-8.53866433e+00,
  2.20700756e-01,-3.43346567e+00, 1.71007010e+01,-3.60115008e+01,
  6.90579586e-02, 4.28161227e+00,-1.95941884e+01, 3.72928006e+01,
  4.94937222e-02, 4.07788080e-01,-3.84281291e+00, 1.32474854e+01,
  2.39654961e+00, 1.10557960e+00, 3.66302349e+00,-3.57873443e+00,
  1.17664379e+02, 9.55984841e+01]

qfrc_actuator:
[ 2.42070994e-03, 2.73808381e-02, 8.70983262e-03, 1.59104817e-03,
  4.10655397e-05, 2.74477050e-02, 8.67684424e-03, 1.69603716e-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: -0.0018354029971145436
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02446663e-14,  3.02446663e-14,  1.00000000e+00, -9.14739841e-28,
        1.00000000e+00, -3.02446663e-14, -1.00000000e+00,  0.00000000e+00,
        3.02446663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007598 , -0.0470149 ,  0.06182437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68690449e-05, 5.32102096e-05,-3.39635140e-05,-3.24647152e-05,
  3.98558874e-05, 4.71643723e-05, 4.37376338e-05,-4.86479325e-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,
  3.44598443e-04, 3.53198037e-05,-4.90501307e+00, 2.39528301e-05,
  3.08013878e-02, 7.18677266e-03]


--- Step 2604 ---
qpos:
[-2.50085512e-03, 8.65854759e-01,-2.37230654e-02, 4.05080226e-04,
 -2.92427957e-03, 8.61858989e-01,-2.71375672e-02, 3.12867121e-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,
  7.19774766e-03,-4.27703018e-02, 7.93094522e-02, 7.00308458e-01,
 -8.72599381e-02,-7.03156800e-01,-8.67426158e-02]

qacc:
[ 2.71826854e-01, 3.25068409e+00,-6.27675738e+00,-5.51570126e+00,
  1.00976289e-01,-1.79635606e+00, 1.10091774e+01,-2.77644949e+01,
 -1.63897513e-01,-8.90983018e-01,-1.41135020e-01, 8.49796210e+00,
  3.71691971e-02, 1.38946763e-01,-5.37793737e+00, 1.85739239e+01,
  2.23467588e+00, 1.02849959e+00, 2.73435757e+00,-3.30111392e+00,
  1.09486451e+02, 8.90689411e+01]

qfrc_actuator:
[ 2.45291594e-03, 2.74652298e-02, 8.66089396e-03, 1.55585984e-03,
  4.04182926e-05, 2.74520807e-02, 8.67604675e-03, 1.64733736e-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: -0.0018316992236211138
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51529112e-14, -9.09174670e-14,  1.00000000e+00,  1.37766430e-27,
        1.00000000e+00,  9.09174670e-14, -1.00000000e+00,  0.00000000e+00,
        1.51529112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076258, -0.04701612,  0.06182473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.97932415e-05, 1.05734727e-04,-4.32630141e-05,-3.47167966e-05,
  1.82775928e-05, 3.76626133e-05, 1.26325649e-05,-4.61173457e-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,
  9.10130906e-06,-1.63535794e-05,-4.90500162e+00, 2.15240781e-05,
  3.08013619e-02, 7.18690762e-03]


--- Step 2605 ---
qpos:
[-2.49977423e-03, 8.65855961e-01,-2.37238167e-02, 4.04435110e-04,
 -2.92374816e-03, 8.61861048e-01,-2.71372797e-02, 3.12859492e-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,
  7.20761685e-03,-4.27766010e-02, 7.93240575e-02, 7.00514162e-01,
 -8.71622296e-02,-7.02952164e-01,-8.68384134e-02]

qacc:
[ 1.35485616e-01, 2.36895400e+00,-1.34267870e+01, 3.25116339e+01,
 -5.44727652e-02,-2.99301027e-01, 2.33891148e+00,-6.29011061e+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,
  6.68109855e-01,-3.32032367e+00,-3.49864519e-02, 4.28441239e+00,
  7.97445162e+01,-1.78370582e+02]

qfrc_actuator:
[ 2.45384546e-03, 2.73903423e-02, 8.63247060e-03, 1.60689170e-03,
  2.19082604e-05, 2.74537648e-02, 8.67540837e-03, 1.63638098e-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: -0.001819201932991621
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.05140129e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.05140129e-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([ 0.006785  , -0.02205073,  0.06182592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46846285e-05,-2.62070854e-05,-1.31225432e-05, 5.33885984e-05,
 -9.82882247e-06, 2.33326735e-05, 7.08284827e-06,-9.80718351e-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,
  1.31559181e-04, 1.37245499e-04,-4.90501575e+00, 4.45889077e-05,
  3.08019088e-02, 7.18593725e-03]


--- Step 2606 ---
qpos:
[-2.49838470e-03, 8.65856852e-01,-2.37247956e-02, 4.04423927e-04,
 -2.92338394e-03, 8.61862772e-01,-2.71361808e-02, 3.12805574e-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,
  7.22000820e-03,-4.27953839e-02, 7.93360478e-02, 7.00796492e-01,
 -8.68108885e-02,-7.02672430e-01,-8.71756964e-02]

qacc:
[ 1.61815409e-01, 1.52896387e+00,-8.72460164e+00, 2.02895945e+01,
 -8.74491838e-02,-3.65939559e+00, 1.43618391e+01,-2.34290793e+01,
  2.26055758e-01,-2.24741203e+00, 1.16560812e+01,-2.57247466e+01,
  4.13567350e-02,-5.92740950e-02, 4.64059992e+00,-1.55270772e+01,
  6.30538472e-01,-3.12094950e+00,-6.53756246e-01, 4.03907667e+00,
  7.47730241e+01,-1.67127859e+02]

qfrc_actuator:
[ 2.47156843e-03, 2.73628153e-02, 8.61581241e-03, 1.63712174e-03,
  1.06516685e-05, 2.74183354e-02, 8.71039485e-03, 1.61221537e-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: -0.0017962268166197629
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09043105e-14, -3.09043105e-14,  1.00000000e+00,  9.55076406e-28,
        1.00000000e+00,  3.09043105e-14, -1.00000000e+00,  0.00000000e+00,
        3.09043105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00677742, -0.02202706,  0.06182802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94879206e-05,-4.26256006e-05,-2.18433114e-05, 2.96922659e-05,
 -1.59192457e-05,-2.13923228e-05, 4.03201368e-05,-2.31151593e-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,
  2.39598821e-04,-1.51476937e-04,-4.90501275e+00, 1.90982797e-05,
  3.08004808e-02, 7.18698035e-03]


--- Step 2607 ---
qpos:
[-2.49674474e-03, 8.65858145e-01,-2.37254602e-02, 4.04644950e-04,
 -2.92335696e-03, 8.61864049e-01,-2.71349032e-02, 3.12867139e-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,
  7.24027974e-03,-4.28109777e-02, 7.93579373e-02, 7.01231404e-01,
 -8.65480282e-02,-7.02238940e-01,-8.74324194e-02]

qacc:
[ 1.31361776e-01, 1.31123312e-01,-6.76884788e-01, 3.89730195e+00,
 -1.77276584e-01, 1.28695680e+00,-1.03205029e+01, 3.03507379e+01,
  2.67938589e-01, 1.67336716e+00, 2.43911992e-01,-1.86647315e+01,
  3.63700324e-02,-1.58602920e-01, 2.97062273e+00,-1.02414308e+01,
  1.97004796e+00, 7.97303975e-01, 2.47481268e+00,-2.77895805e+00,
  1.00129844e+02, 7.26391817e+01]

qfrc_actuator:
[ 2.48146122e-03, 2.74526452e-02, 8.65960346e-03, 1.65488388e-03,
 -1.39002894e-05, 2.73788368e-02, 8.71270771e-03, 1.66921993e-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: -0.0017802221317998936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.45008897e-07, -6.90017795e-07,  1.00000000e+00,  2.38062278e-13,
        1.00000000e+00,  6.90017795e-07, -1.00000000e+00,  0.00000000e+00,
        3.45008897e-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([ 0.00053326, -0.0460163 ,  0.06182949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39473487e-05, 6.27423898e-05, 3.33234214e-05, 1.57576924e-05,
 -3.21113840e-05,-4.41748886e-05, 2.04126137e-06, 5.70305314e-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,
  3.71752841e-04,-5.89246843e-04,-4.90506489e+00,-4.95014039e-05,
  3.08023072e-02, 7.18989261e-03]


--- Step 2608 ---
qpos:
[-2.49530317e-03, 8.65859436e-01,-2.37244046e-02, 4.06065028e-04,
 -2.92345627e-03, 8.61864763e-01,-2.71334933e-02, 3.12998405e-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,
  7.24667920e-03,-4.28199325e-02, 7.93664196e-02, 7.01376896e-01,
 -8.63932874e-02,-7.02095554e-01,-8.75698736e-02]

qacc:
[-1.02870314e-01,-2.33745525e+00, 3.27241158e+00, 1.47250454e+01,
 -6.61886573e-02, 3.21426786e-01,-5.16782422e+00, 1.74335118e+01,
 -1.68026747e-01, 4.11108865e+00,-1.04899353e+01, 1.11178254e+00,
  3.77181308e-02,-1.69060475e-01, 1.82984406e+00,-6.46805353e+00,
 -3.46801973e+00, 1.65972674e+00,-3.35180976e+00, 4.12713531e+00,
 -2.13223592e+02, 5.45740780e+01]

qfrc_actuator:
[ 2.45108539e-03, 2.74702797e-02, 8.75696588e-03, 1.71857132e-03,
 -1.06872762e-05, 2.73371422e-02, 8.71347710e-03, 1.70248351e-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: -0.0018212586830743116
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52397767e-14,  3.04795534e-14,  1.00000000e+00, -4.64501587e-28,
        1.00000000e+00, -3.04795534e-14, -1.00000000e+00,  0.00000000e+00,
        1.52397767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935525, -0.05884244,  0.06182602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89520622e-05, 6.02499517e-05, 1.14964904e-04, 6.78333584e-05,
 -1.20361010e-05,-6.35771533e-05,-6.14918640e-06, 3.25476307e-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,
  1.04026530e-03,-8.10936209e-04,-4.90506920e+00,-7.62590310e-05,
  3.07990378e-02, 7.19086179e-03]


--- Step 2609 ---
qpos:
[-2.49433740e-03, 8.65860704e-01,-2.37228783e-02, 4.08326402e-04,
 -2.92359404e-03, 8.61864843e-01,-2.71319871e-02, 3.13135215e-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,
  7.24029890e-03,-4.28227686e-02, 7.93594758e-02, 7.01256134e-01,
 -8.63379348e-02,-7.02219529e-01,-8.75975392e-02]

qacc:
[-2.49102924e-01, 3.87898945e-01,-4.97618482e+00, 1.87987847e+01,
 -1.99640277e-02,-9.92905522e-01, 2.08973531e+00,-8.18648082e-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,
 -3.19494136e+00, 1.52967334e+00,-3.85651678e+00, 3.89183819e+00,
 -1.96322732e+02, 5.01845670e+01]

qfrc_actuator:
[ 2.41464967e-03, 2.74270871e-02, 8.76067108e-03, 1.75549633e-03,
 -8.64396947e-06, 2.72944249e-02, 8.71329543e-03, 1.70374576e-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: -0.0018369891998622212
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02185507e-14, -3.02185507e-14,  1.00000000e+00,  9.13160805e-28,
        1.00000000e+00,  3.02185507e-14, -1.00000000e+00,  0.00000000e+00,
        3.02185507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04933007, -0.05883076,  0.0618247 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.54716978e-05, 1.71014043e-05, 3.26390233e-05, 4.47997088e-05,
 -3.67830879e-06,-7.81755608e-05,-1.29617679e-05,-1.04561351e-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,
  1.04460311e-04,-1.34223639e-04,-4.90501956e+00,-5.77549377e-05,
  3.07983425e-02, 7.18974428e-03]


--- Step 2610 ---
qpos:
[-2.49382837e-03, 8.65862317e-01,-2.37224457e-02, 4.10385597e-04,
 -2.92373625e-03, 8.61863958e-01,-2.71306111e-02, 3.13312913e-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,
  7.22206928e-03,-4.28199281e-02, 7.93353654e-02, 7.00888270e-01,
 -8.63746140e-02,-7.02591431e-01,-8.75233722e-02]

qacc:
[-2.40277003e-01, 3.09285889e+00,-9.51538253e+00, 7.51544434e+00,
 -2.05520773e-03,-6.81202242e-02,-3.33172665e+00, 1.13255003e+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,
 -2.96232938e+00, 1.41915624e+00,-4.29163855e+00, 3.67726116e+00,
 -1.82117316e+02, 4.64931155e+01]

qfrc_actuator:
[ 2.39268741e-03, 2.74184302e-02, 8.69099074e-03, 1.74073674e-03,
 -7.33980410e-06, 2.72158858e-02, 8.69477350e-03, 1.72167524e-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: -0.0018289384339895062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03515691e-14, -6.07031382e-14,  1.00000000e+00,  1.84243549e-27,
        1.00000000e+00,  6.07031382e-14, -1.00000000e+00,  0.00000000e+00,
        3.03515691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934353, -0.05883643,  0.06182536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36481076e-05, 9.51282309e-06,-6.06020773e-05,-1.20324273e-05,
 -4.51339683e-07,-1.24991141e-04,-3.63150018e-05, 1.41071572e-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,
  1.04208622e-04, 2.07974586e-05,-4.90500658e+00,-4.87653659e-05,
  3.07981866e-02, 7.18820306e-03]


--- Step 2611 ---
qpos:
[-2.49330290e-03, 8.65864456e-01,-2.37226487e-02, 4.11161712e-04,
 -2.92387184e-03, 8.61862662e-01,-2.71301879e-02, 3.13405773e-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,
  7.19279086e-03,-4.28117904e-02, 7.92925854e-02, 7.00289119e-01,
 -8.64971222e-02,-7.03194615e-01,-8.73540547e-02]

qacc:
[ 7.96979672e-03,-1.72441030e-01, 7.03675187e+00,-2.86107389e+01,
  2.97846713e-03, 3.71333855e-01, 1.46839652e+00,-1.43241522e+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,
 -2.76220017e+00, 1.32431809e+00,-4.66742028e+00, 3.48029614e+00,
 -1.70166702e+02, 4.33863369e+01]

qfrc_actuator:
[ 2.41508574e-03, 2.74656419e-02, 8.66741835e-03, 1.67792072e-03,
 -6.49775831e-06, 2.72051999e-02, 8.64768288e-03, 1.67821891e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018016732672791885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54054434e-14,  2.31081652e-14,  1.00000000e+00, -3.55991531e-28,
        1.00000000e+00, -2.31081652e-14, -1.00000000e+00,  0.00000000e+00,
        1.54054434e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04938766, -0.05885584,  0.0618276 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58324043e-06, 3.94481866e-05,-2.95093765e-05,-6.47458331e-05,
  6.12641671e-07,-8.74660764e-05,-7.68971828e-05,-4.97964760e-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,
  8.42576980e-04,-2.36181096e-04,-4.90502181e+00,-4.56771707e-05,
  3.07985505e-02, 7.18625205e-03]


--- Step 2612 ---
qpos:
[-2.49300272e-03, 8.65866658e-01,-2.37227221e-02, 4.10839399e-04,
 -2.92418528e-03, 8.61862108e-01,-2.71314814e-02, 3.13367174e-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,
  7.17441298e-03,-4.27983141e-02, 7.92713022e-02, 6.99893639e-01,
 -8.67511837e-02,-7.03592491e-01,-8.70674003e-02]

qacc:
[-1.18113746e-01,-2.53818686e+00, 1.38095942e+01,-3.30753937e+01,
 -9.50905178e-02, 3.06562968e+00,-3.96361355e+00,-1.65826000e+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,
  2.72513647e+00, 1.33463265e+00, 5.37419772e+00,-4.96604643e+00,
  1.32677645e+02, 1.05113729e+02]

qfrc_actuator:
[ 2.39279943e-03, 2.74572932e-02, 8.67149010e-03, 1.62293788e-03,
 -2.36948968e-05, 2.73060689e-02, 8.58432558e-03, 1.61677744e-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: -0.0018398941250451772
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  6.034168e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -6.034168e-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([-0.00075518, -0.04702452,  0.06182399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15296115e-05, 4.79064223e-06, 6.32584527e-06,-5.55788442e-05,
 -1.69153741e-05, 3.39720075e-05,-9.26138994e-05,-6.88193069e-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,
  2.17526493e-03,-8.24505697e-04,-4.90505563e+00,-4.59176161e-05,
  3.07993648e-02, 7.18390299e-03]


--- Step 2613 ---
qpos:
[-2.49276387e-03, 8.65868386e-01,-2.37224834e-02, 4.09572338e-04,
 -2.92450262e-03, 8.61862270e-01,-2.71337424e-02, 3.13250165e-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,
  7.16604662e-03,-4.27799751e-02, 7.92667166e-02, 6.99685418e-01,
 -8.71268838e-02,-7.03801969e-01,-8.66718599e-02]

qacc:
[-3.18396921e-02,-3.44165640e+00, 1.53517064e+01,-3.18552637e+01,
 -2.97222026e-03, 2.03345364e+00,-2.56841077e+00,-9.97842199e+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,
  2.50287979e+00, 1.21567845e+00, 4.17442783e+00,-4.34062788e+00,
  1.21787379e+02, 9.72202610e+01]

qfrc_actuator:
[ 2.39719537e-03, 2.73981070e-02, 8.67388475e-03, 1.57298352e-03,
 -1.60284664e-05, 2.73663675e-02, 8.54785865e-03, 1.58085570e-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: -0.0018665449286038166
  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([-0.00073628, -0.04702153,  0.06182154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87349847e-06,-5.76361972e-05, 2.22368527e-06,-5.06145341e-05,
 -3.56688667e-07, 5.72417669e-05,-4.32283987e-05,-3.90079250e-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,
  8.50782617e-04,-7.49327788e-04,-4.90501934e+00,-3.75820536e-05,
  3.07994580e-02, 7.18586514e-03]


--- Step 2614 ---
qpos:
[-2.49234131e-03, 8.65868763e-01,-2.37218062e-02, 4.08512992e-04,
 -2.92458538e-03, 8.61862130e-01,-2.71358389e-02, 3.13165292e-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,
  7.16695782e-03,-4.27571584e-02, 7.92747681e-02, 6.99650671e-01,
 -8.76159350e-02,-7.03836880e-01,-8.61744310e-02]

qacc:
[ 9.70730726e-02,-2.58117301e+00, 5.73735916e+00,-1.85308288e+00,
  1.23779712e-01,-1.97562846e-01,-1.23196627e+00, 6.75269266e+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,
  2.31938892e+00, 1.11941031e+00, 3.15925414e+00,-3.80818532e+00,
  1.12766290e+02, 9.06557031e+01]

qfrc_actuator:
[ 2.41752683e-03, 2.72734252e-02, 8.67503879e-03, 1.57958985e-03,
  6.45330956e-06, 2.73132887e-02, 8.54521601e-03, 1.59574642e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001869985069503255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22640085e-14, -1.18741378e-13,  1.00000000e+00,  2.64365906e-27,
        1.00000000e+00,  1.18741378e-13, -1.00000000e+00,  0.00000000e+00,
        2.22640085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00073419, -0.04702284,  0.06182123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75208023e-05,-1.58662005e-04,-1.22410754e-05, 3.22807050e-06,
  2.23206675e-05,-3.16536089e-05, 2.52131806e-06, 1.50923004e-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,
  1.71757942e-04,-4.39774741e-04,-4.90501833e+00, 1.45261557e-06,
  3.08005695e-02, 7.18606459e-03]


--- Step 2615 ---
qpos:
[-2.49207809e-03, 8.65868407e-01,-2.37213710e-02, 4.08545598e-04,
 -2.92441614e-03, 8.61861423e-01,-2.71372464e-02, 3.13133256e-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,
  7.17095025e-03,-4.27488981e-02, 7.92871093e-02, 6.99705884e-01,
 -8.78041508e-02,-7.03784123e-01,-8.59652004e-02]

qacc:
[-8.33749643e-02, 1.95404460e+00,-1.29834540e+01, 3.28086470e+01,
  1.33384965e-01,-1.58345087e+00, 2.33131776e+00, 6.12548502e+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,
  7.70306955e-01,-3.63909576e+00, 1.07241759e+00, 3.98103325e+00,
  8.79142986e+01,-1.98971921e+02]

qfrc_actuator:
[ 2.39394119e-03, 2.72702864e-02, 8.67519725e-03, 1.63711065e-03,
  1.98347242e-05, 2.72816790e-02, 8.57987556e-03, 1.62258016e-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: -0.0018904219414757964
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93644239e-14, -5.87288478e-14,  1.00000000e+00,  1.72453878e-27,
        1.00000000e+00,  5.87288478e-14, -1.00000000e+00,  0.00000000e+00,
        2.93644239e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00680201, -0.02213743,  0.06181952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52512413e-05,-9.42609167e-05,-3.40138514e-05, 5.03630464e-05,
  2.39725990e-05,-4.81183588e-05, 2.89740578e-05, 2.58631900e-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,
  2.70198875e-06, 5.58557396e-05,-4.90504412e+00, 6.60146551e-05,
  3.08022909e-02, 7.18486791e-03]


--- Step 2616 ---
qpos:
[-2.49185360e-03, 8.65868447e-01,-2.37212372e-02, 4.09469027e-04,
 -2.92423185e-03, 8.61860528e-01,-2.71380831e-02, 3.13164080e-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,
  7.17780033e-03,-4.27541797e-02, 7.93005855e-02, 6.99844783e-01,
 -8.77138213e-02,-7.03650253e-01,-8.60225904e-02]

qacc:
[-2.05907339e-02, 3.19845268e+00,-1.44055190e+01, 3.00155392e+01,
  8.39112001e-03,-5.49406646e-01,-1.05572862e+00, 1.11595191e+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,
  7.14412563e-01,-3.38546769e+00, 2.83753215e-01, 3.81582483e+00,
  8.15041514e+01,-1.84137831e+02]

qfrc_actuator:
[ 2.39753275e-03, 2.73755017e-02, 8.69301605e-03, 1.68870755e-03,
  9.89204782e-06, 2.72988407e-02, 8.61857358e-03, 1.65624415e-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: -0.001890073187701305
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93698422e-14,  2.93698422e-14,  1.00000000e+00, -8.62587630e-28,
        1.00000000e+00, -2.93698422e-14, -1.00000000e+00,  0.00000000e+00,
        2.93698422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00680111, -0.02213717,  0.06181965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69232775e-06, 4.76414184e-05,-4.09719716e-06, 4.73621799e-05,
  1.43012317e-06,-2.62158419e-06, 3.32423976e-05, 3.31123551e-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,
  3.78097067e-05, 9.19939669e-05,-4.90499693e+00, 1.03958122e-04,
  3.08011315e-02, 7.18422963e-03]


--- Step 2617 ---
qpos:
[-2.49125436e-03, 8.65869125e-01,-2.37207828e-02, 4.10235785e-04,
 -2.92391746e-03, 8.61859498e-01,-2.71384443e-02, 3.13234915e-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,
  7.18732067e-03,-4.27721560e-02, 7.93125092e-02, 7.00061833e-01,
 -8.73635070e-02,-7.03440410e-01,-8.63286576e-02]

qacc:
[ 1.96447217e-01,-3.74618049e-01, 3.22118170e+00,-6.91491198e+00,
  6.88920446e-02,-6.82062471e-01, 4.84918902e-01, 5.77777745e+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,
  6.67565380e-01,-3.17367513e+00,-3.88105700e-01, 3.64337556e+00,
  7.61686111e+01,-1.71793561e+02]

qfrc_actuator:
[ 2.43512640e-03, 2.74383772e-02, 8.72158730e-03, 1.68325655e-03,
  2.15963280e-05, 2.72918565e-02, 8.64178457e-03, 1.67594210e-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: -0.0018704508654874413
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96779521e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.96779521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00679399, -0.02211752,  0.06182145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58378362e-05, 9.06939844e-05, 3.95422806e-05,-2.63167727e-06,
  1.23818905e-05,-1.38494469e-07, 2.79247204e-05, 2.13829316e-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,
  1.06239526e-04,-7.37662854e-05,-4.90501474e+00, 8.96172178e-05,
  3.08035777e-02, 7.18571273e-03]


--- Step 2618 ---
qpos:
[-2.49024530e-03, 8.65870510e-01,-2.37199946e-02, 4.10229948e-04,
 -2.92346965e-03, 8.61858340e-01,-2.71387374e-02, 3.13297046e-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,
  7.19935361e-03,-4.28021181e-02, 7.93205898e-02, 7.00352126e-01,
 -8.67686581e-02,-7.03158564e-01,-8.68684884e-02]

qacc:
[ 2.14773719e-01,-1.58793924e+00, 1.02794731e+01,-2.47049654e+01,
  7.03501651e-02,-5.37118341e-01, 2.03915612e+00,-3.56181886e+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,
  6.28151881e-01,-2.99642822e+00,-9.60794749e-01, 3.46669597e+00,
  7.17302926e+01,-1.61525653e+02]

qfrc_actuator:
[ 2.45721804e-03, 2.74754481e-02, 8.73835591e-03, 1.64426800e-03,
  2.84150788e-05, 2.72704064e-02, 8.63781775e-03, 1.66948482e-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: -0.001835441336179161
  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([ 0.00678197, -0.02208255,  0.06182457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.91895900e-05, 9.58216286e-05, 4.02694665e-05,-3.37896360e-05,
  1.26955656e-05,-1.48164297e-05, 1.95110942e-07,-5.07959622e-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,
  2.01607708e-04,-4.01986701e-04,-4.90508600e+00, 3.00130849e-05,
  3.08089530e-02, 7.18903824e-03]


--- Step 2619 ---
qpos:
[-2.48946595e-03, 8.65871682e-01,-2.37186086e-02, 4.10548770e-04,
 -2.92310484e-03, 8.61857413e-01,-2.71394960e-02, 3.13350117e-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,
  7.21988211e-03,-4.28280124e-02, 7.93390918e-02, 7.00809032e-01,
 -8.62813558e-02,-7.02708286e-01,-8.73114719e-02]

qacc:
[-1.19959310e-01,-1.28362294e+00, 2.79713734e+00, 2.02099632e+00,
 -4.40954052e-02, 1.41652309e+00,-4.22810957e+00, 3.23719950e+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,
  2.12388901e+00, 1.01691981e+00, 2.60535861e+00,-3.69804084e+00,
  1.08685897e+02, 8.62688399e+01]

qfrc_actuator:
[ 2.41656562e-03, 2.74079488e-02, 8.74790155e-03, 1.65684602e-03,
  1.44945226e-05, 2.72935807e-02, 8.61776139e-03, 1.66541416e-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: -0.0018044456052198423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14022619e-06, -1.14022620e-06,  1.00000000e+00, -1.30011577e-12,
        1.00000000e+00,  1.14022620e-06, -1.00000000e+00,  0.00000000e+00,
       -1.14022619e-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([-0.00062244, -0.04692459,  0.06182731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19567424e-05,-7.08441872e-06, 3.31094078e-05, 1.74147454e-05,
 -7.89589924e-06, 1.47427372e-05,-2.32577181e-05,-4.79640961e-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,
  3.19294187e-04,-8.63944351e-04,-4.90520274e+00,-6.95810061e-05,
  3.08166703e-02, 7.19397381e-03]


--- Step 2620 ---
qpos:
[-2.48905301e-03, 8.65872089e-01,-2.37170254e-02, 4.11116640e-04,
 -2.92268173e-03, 8.61856846e-01,-2.71405980e-02, 3.13395349e-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,
  7.23136461e-03,-4.28461297e-02, 7.93625585e-02, 7.01073787e-01,
 -8.59351025e-02,-7.02450310e-01,-8.76028899e-02]

qacc:
[-1.91691906e-01,-1.04830896e+00, 1.22082104e+00, 3.33472445e+00,
  3.03584143e-02, 1.27227938e+00,-3.51713193e+00, 2.44716219e+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,
 -2.26150165e+00, 1.94426742e+00, 1.24116430e+00, 3.93448197e+00,
 -1.47592653e+02, 8.59828581e+01]

qfrc_actuator:
[ 2.39200024e-03, 2.73138512e-02, 8.73496322e-03, 1.66407050e-03,
  2.37986976e-05, 2.73254707e-02, 8.60631023e-03, 1.66281384e-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: -0.001782635526397396
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96859210e-07, -9.85286949e-14,  1.00000000e+00,  4.89548896e-20,
        1.00000000e+00,  9.85286949e-14, -1.00000000e+00,  6.01853108e-36,
        4.96859210e-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([ 0.02885854, -0.05402421,  0.06182931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50403934e-05,-9.05184004e-05,-9.74041495e-06, 8.40179280e-06,
  5.55829630e-06, 3.51514455e-05,-1.14253695e-05,-2.86525447e-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,
  1.02439985e-03,-1.33769043e-03,-4.90517588e+00,-1.25346783e-04,
  3.08095044e-02, 7.19706101e-03]


--- Step 2621 ---
qpos:
[-2.48878272e-03, 8.65871827e-01,-2.37155485e-02, 4.11431661e-04,
 -2.92198785e-03, 8.61856151e-01,-2.71405393e-02, 3.13432854e-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,
  7.22980302e-03,-4.28582340e-02, 7.93708220e-02, 7.01069516e-01,
 -8.56928676e-02,-7.02461596e-01,-8.77836690e-02]

qacc:
[-7.46342789e-02,-1.10578835e+00, 3.72929696e+00,-7.44473729e+00,
  1.43377349e-01,-3.56662789e+00, 1.28025046e+01,-1.59075997e+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,
 -3.26101991e+00, 1.50322886e+00,-3.80078778e+00, 2.63157456e+00,
 -1.98185065e+02, 5.19636449e+01]

qfrc_actuator:
[ 2.39506832e-03, 2.72754416e-02, 8.72644857e-03, 1.65027599e-03,
  4.69296042e-05, 2.73268634e-02, 8.67109703e-03, 1.66111976e-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([ 8.63636364, -8.19203715,  2.73446597, -8.19203715, 10.80806817,
        6.50609092,  2.73446597,  6.50609092, 28.12760588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001804975002740468
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53772632e-14, -5.38204211e-14,  1.00000000e+00,  8.27610778e-28,
        1.00000000e+00,  5.38204211e-14, -1.00000000e+00,  0.00000000e+00,
        1.53772632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0493971 , -0.05884587,  0.06182751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36539409e-05,-9.07057011e-05,-2.81351200e-05,-1.78490418e-05,
  2.57738642e-05, 1.85884829e-05, 7.05520418e-05,-6.37721515e-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,
  3.28455990e-04,-5.06442755e-04,-4.90510334e+00,-1.03912511e-04,
  3.08062279e-02, 7.19487297e-03]


--- Step 2622 ---
qpos:
[-2.48874712e-03, 8.65870766e-01,-2.37143839e-02, 4.11265391e-04,
 -2.92139730e-03, 8.61855314e-01,-2.71390912e-02, 3.13501097e-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,
  7.21615997e-03,-4.28647391e-02, 7.93621280e-02, 7.00815849e-01,
 -8.55462819e-02,-7.02722749e-01,-8.78619233e-02]

qacc:
[-1.22986747e-01,-1.17382879e+00, 4.68460867e+00,-1.19274986e+01,
 -5.34679858e-02,-3.43321086e+00, 1.06740077e+01,-7.47650274e+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,
 -3.02036728e+00, 1.39982570e+00,-4.23938112e+00, 2.76289914e+00,
 -1.83773544e+02, 4.78811873e+01]

qfrc_actuator:
[ 2.37913401e-03, 2.72173961e-02, 8.70306019e-03, 1.62427235e-03,
  2.48628774e-05, 2.73280531e-02, 8.74475435e-03, 1.67775228e-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: -0.0018027062828054538
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53966156e-14, -2.30949233e-14,  1.00000000e+00,  3.55583656e-28,
        1.00000000e+00,  2.30949233e-14, -1.00000000e+00,  0.00000000e+00,
        1.53966156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0494039 , -0.05884625,  0.06182778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24561418e-05,-1.15349939e-04,-4.62160459e-05,-3.12125659e-05,
 -9.83090854e-06, 2.61461741e-05, 8.61711647e-05, 1.98583594e-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,
  1.43640606e-05, 4.03759990e-05,-4.90505269e+00,-8.77103164e-05,
  3.08042155e-02, 7.19081982e-03]


--- Step 2623 ---
qpos:
[-2.48892221e-03, 8.65869207e-01,-2.37139000e-02, 4.10085456e-04,
 -2.92136972e-03, 8.61854503e-01,-2.71378504e-02, 3.13597705e-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,
  7.19125731e-03,-4.28659993e-02, 7.93349641e-02, 7.00329005e-01,
 -8.54883289e-02,-7.03217165e-01,-8.78444636e-02]

qacc:
[-1.10759215e-01,-8.44135914e-01, 6.33216920e+00,-2.24197752e+01,
 -2.96622747e-01, 1.19685327e+00,-5.41530801e+00, 1.06378541e+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,
 -2.81490240e+00, 1.31118836e+00,-4.61746905e+00, 2.84633520e+00,
 -1.71654825e+02, 4.44598314e+01]

qfrc_actuator:
[ 2.36970000e-03, 2.72012254e-02, 8.67099615e-03, 1.57352018e-03,
 -2.40566500e-05, 2.72936819e-02, 8.71652538e-03, 1.68727439e-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: -0.0017806589970198322
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55872492e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.55872492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04944223, -0.05886119,  0.06182968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01538319e-05,-9.15409899e-05,-6.26619214e-05,-5.79001211e-05,
 -5.35843134e-05,-1.09735941e-06,-1.15303239e-05, 1.40094347e-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,
  4.73408339e-04, 1.35875856e-04,-4.90503696e+00,-7.95491507e-05,
  3.08031184e-02, 7.18699483e-03]


--- Step 2624 ---
qpos:
[-2.48925508e-03, 8.65867690e-01,-2.37135857e-02, 4.08200194e-04,
 -2.92154136e-03, 8.61854076e-01,-2.71373992e-02, 3.13773600e-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,
  7.17668911e-03,-4.28620544e-02, 7.93261999e-02, 7.00035914e-01,
 -8.55539297e-02,-7.03516734e-01,-8.77180101e-02]

qacc:
[-8.28856172e-02,-9.21017028e-01, 6.34402530e+00,-1.83116221e+01,
 -1.05517039e-01, 4.34198962e+00,-1.80947621e+01, 3.28025074e+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,
  2.58361678e+00, 1.30131504e+00, 4.59992859e+00,-5.21726222e+00,
  1.26268345e+02, 9.84470115e+01]

qfrc_actuator:
[ 2.36423604e-03, 2.72634563e-02, 8.68747783e-03, 1.54414906e-03,
 -1.75763533e-05, 2.73266258e-02, 8.68146349e-03, 1.72793630e-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: -0.0018093918101563522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13589063e-14, -9.20383594e-14,  1.00000000e+00,  5.64737307e-27,
        1.00000000e+00,  9.20383594e-14, -1.00000000e+00,  0.00000000e+00,
        6.13589063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077334, -0.0470546 ,  0.06182702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50807996e-05,-4.34610432e-06,-1.21378314e-05,-3.65845491e-05,
 -1.89554833e-05, 3.05506106e-05,-3.62284783e-05, 4.04871840e-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,
  1.55527078e-03,-1.31010481e-04,-4.90504642e+00,-7.63871477e-05,
  3.08027615e-02, 7.18317468e-03]


--- Step 2625 ---
qpos:
[-2.49006679e-03, 8.65866895e-01,-2.37135123e-02, 4.06237919e-04,
 -2.92176493e-03, 8.61854632e-01,-2.71376685e-02, 3.13919515e-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,
  7.17167225e-03,-4.28533665e-02, 7.93315484e-02, 6.99921989e-01,
 -8.57343530e-02,-7.03636527e-01,-8.74898127e-02]

qacc:
[-2.51443096e-01, 1.46669416e+00,-3.52209742e+00, 2.04539818e+00,
 -2.81709150e-02, 2.69045516e+00,-6.44691764e+00, 1.69199463e+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,
  2.38783418e+00, 1.18573382e+00, 3.52818164e+00,-4.62130009e+00,
  1.16560093e+02, 9.15503755e+01]

qfrc_actuator:
[ 2.32568023e-03, 2.73546334e-02, 8.69734285e-03, 1.54545631e-03,
 -1.34999830e-05, 2.74173427e-02, 8.66071958e-03, 1.71564887e-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: -0.0018238949210252903
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04354986e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04354986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076336, -0.04705495,  0.06182572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57437612e-05, 8.47079898e-05, 6.21852250e-06,-6.21195386e-09,
 -4.91784730e-06, 1.02053978e-04,-1.74994689e-05,-1.14469848e-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,
  5.22896878e-04,-2.43523449e-04,-4.90499677e+00,-8.81310754e-05,
  3.07995943e-02, 7.18689148e-03]


--- Step 2626 ---
qpos:
[-2.49134236e-03, 8.65866598e-01,-2.37138333e-02, 4.03999558e-04,
 -2.92235919e-03, 8.61855934e-01,-2.71378252e-02, 3.13908570e-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,
  7.17556132e-03,-4.28403099e-02, 7.93473862e-02, 6.99974987e-01,
 -8.60222986e-02,-7.03588865e-01,-8.71658805e-02]

qacc:
[-2.43634345e-01, 1.19067108e+00,-2.12625824e+00,-2.38571810e+00,
 -1.95513969e-01,-2.55436420e+00, 1.71633230e+01,-4.50433729e+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,
  2.22648211e+00, 1.09216703e+00, 2.62229934e+00,-4.11719248e+00,
  1.08521599e+02, 8.58120004e+01]

qfrc_actuator:
[ 2.30315871e-03, 2.73559670e-02, 8.66787174e-03, 1.52931915e-03,
 -4.64388392e-05, 2.74532090e-02, 8.66656586e-03, 1.63686212e-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: -0.0018181234632283355
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05321131e-14,  3.05321131e-14,  1.00000000e+00, -9.32209931e-28,
        1.00000000e+00, -3.05321131e-14, -1.00000000e+00,  0.00000000e+00,
        3.05321131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076803, -0.0470588 ,  0.06182629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43222836e-05, 5.00021612e-05,-1.12005204e-05,-1.22885654e-05,
 -3.52602840e-05, 8.88139922e-05, 2.43662513e-05,-7.52460833e-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,
  5.78573528e-05,-1.32840948e-04,-4.90497953e+00,-7.16049062e-05,
  3.07977682e-02, 7.18881230e-03]


--- Step 2627 ---
qpos:
[-2.49241499e-03, 8.65866770e-01,-2.37148191e-02, 4.02299328e-04,
 -2.92351854e-03, 8.61857258e-01,-2.71373406e-02, 3.13843533e-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,
  7.18782640e-03,-4.28231867e-02, 7.93706534e-02, 7.00184614e-01,
 -8.64116654e-02,-7.03383795e-01,-8.67511747e-02]

qacc:
[ 1.05842884e-01, 3.58253798e+00,-1.41481345e+01, 2.41830789e+01,
 -2.97245422e-01,-2.87371894e+00, 1.25742501e+01,-2.29818568e+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,
  2.09400135e+00, 1.01667153e+00, 1.85735142e+00,-3.68597851e+00,
  1.01867548e+02, 8.10457877e+01]

qfrc_actuator:
[ 2.34369225e-03, 2.73743400e-02, 8.63280152e-03, 1.55620312e-03,
 -8.34946650e-05, 2.74205018e-02, 8.68782145e-03, 1.60832763e-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: -0.0017961097612953364
  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([-0.00078434, -0.04706546,  0.06182833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94060832e-05, 4.35038775e-05,-2.65387186e-05, 2.84042037e-05,
 -5.37814936e-05, 1.87302520e-05, 3.99872473e-05,-2.53522622e-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,
  4.73636485e-05, 1.58704906e-04,-4.90498743e+00,-3.12355592e-05,
  3.07968737e-02, 7.18929032e-03]


--- Step 2628 ---
qpos:
[-2.49313327e-03, 8.65867839e-01,-2.37170489e-02, 4.01610150e-04,
 -2.92479812e-03, 8.61858161e-01,-2.71363486e-02, 3.13786072e-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,
  7.20803430e-03,-4.28022393e-02, 7.93987688e-02, 7.00542211e-01,
 -8.68973638e-02,-7.03029471e-01,-8.62497638e-02]

qacc:
[ 1.84737180e-01, 6.73930578e+00,-2.65799095e+01, 4.54139264e+01,
 -6.28418483e-02,-1.81594866e+00, 5.34939760e+00,-4.54269474e+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,
  1.98570712e+00, 9.56023668e-01, 1.21207154e+00,-3.31228929e+00,
  9.63679524e+01, 7.71007808e+01]

qfrc_actuator:
[ 2.36831967e-03, 2.74382718e-02, 8.57704727e-03, 1.60819597e-03,
 -6.94201028e-05, 2.73648296e-02, 8.69999613e-03, 1.60954427e-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: -0.0017612353836995859
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.15183034e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.15183034e-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([-0.00080982, -0.04707437,  0.06183153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38870049e-05, 8.40048651e-05,-4.90464260e-05, 5.34944891e-05,
 -1.14524043e-05,-3.80675634e-05, 2.00796834e-05, 2.90858998e-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,
  4.09243758e-04, 6.00399719e-04,-4.90501651e+00, 2.97130389e-05,
  3.07965834e-02, 7.18858209e-03]


--- Step 2629 ---
qpos:
[-2.49352703e-03, 8.65869087e-01,-2.37194139e-02, 4.01564691e-04,
 -2.92566689e-03, 8.61858812e-01,-2.71355342e-02, 3.13802254e-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,
  7.23109927e-03,-4.27944732e-02, 7.94265329e-02, 7.00980474e-01,
 -8.71129585e-02,-7.02595572e-01,-8.60067983e-02]

qacc:
[ 1.70019414e-01, 1.93955546e+00,-9.28878514e+00, 2.05148175e+01,
  2.16376271e-01, 1.67782935e+00,-9.57539541e+00, 2.27924205e+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,
  7.14267528e-01,-3.29531236e+00,-8.78463614e-02, 3.83533240e+00,
  7.91053453e+01,-1.78535309e+02]

qfrc_actuator:
[ 2.38317081e-03, 2.74224071e-02, 8.56298574e-03, 1.63906073e-03,
 -2.48861387e-05, 2.73490703e-02, 8.68884711e-03, 1.64596392e-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: -0.001732088551436639
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20486797e-14, -9.61460392e-14,  1.00000000e+00,  3.08135362e-27,
        1.00000000e+00,  9.61460392e-14, -1.00000000e+00,  0.00000000e+00,
        3.20486797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672933, -0.02199038,  0.06183425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10196683e-05, 2.32699296e-05,-8.92815943e-07, 3.38094625e-05,
  3.90926801e-05,-3.28042351e-05,-1.64502192e-05, 3.55386803e-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,
  1.08372739e-03, 1.17010497e-03,-4.90506514e+00, 1.08840550e-04,
  3.07966244e-02, 7.18687448e-03]


--- Step 2630 ---
qpos:
[-2.49385887e-03, 8.65870074e-01,-2.37211284e-02, 4.01547062e-04,
 -2.92624543e-03, 8.61859473e-01,-2.71352494e-02, 3.13861039e-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,
  7.25684999e-03,-4.27991283e-02, 7.94515576e-02, 7.01494849e-01,
 -8.70753549e-02,-7.02086781e-01,-8.60058820e-02]

qacc:
[ 3.29656614e-02,-2.10512376e+00, 6.88726104e+00,-7.25558065e+00,
  1.52534941e-01, 2.36704151e+00,-1.02216352e+01, 1.84379513e+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,
  6.71436215e-01,-3.10529298e+00,-6.84823489e-01, 3.80671541e+00,
  7.44179004e+01,-1.67248814e+02]

qfrc_actuator:
[ 2.37429166e-03, 2.73945283e-02, 8.59108119e-03, 1.63945890e-03,
 -1.58173692e-05, 2.73572579e-02, 8.66418585e-03, 1.66730911e-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: -0.0017140501888949777
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83377101e-14, -3.23859544e-14,  1.00000000e+00,  9.17743786e-28,
        1.00000000e+00,  3.23859544e-14, -1.00000000e+00,  0.00000000e+00,
        2.83377101e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672213, -0.02197149,  0.06183599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91393463e-06,-1.36092139e-05, 3.39702726e-05, 2.02356290e-06,
  2.76210621e-05,-1.20481794e-05,-3.22453436e-05, 2.00592531e-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,
  1.36155647e-03, 5.15814012e-04,-4.90504255e+00, 1.04750617e-04,
  3.07951105e-02, 7.18825520e-03]


--- Step 2631 ---
qpos:
[-2.49495884e-03, 8.65870473e-01,-2.37219625e-02, 4.00870272e-04,
 -2.92662859e-03, 8.61860492e-01,-2.71348695e-02, 3.13866977e-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,
  7.26741732e-03,-4.28079025e-02, 7.94591984e-02, 7.01722741e-01,
 -8.69059367e-02,-7.01860903e-01,-8.61616288e-02]

qacc:
[-4.01982438e-01,-4.59018450e+00, 1.80251390e+01,-3.04136255e+01,
  1.02808373e-01,-8.79535822e-01, 6.05416728e+00,-1.56168608e+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,
 -3.79584784e+00,-1.02978115e+00,-4.34598670e+00,-9.06860971e+00,
 -1.87309487e+02,-1.25858823e+02]

qfrc_actuator:
[ 2.29804923e-03, 2.73420583e-02, 8.62598658e-03, 1.60418289e-03,
 -1.03188227e-05, 2.74151582e-02, 8.68509816e-03, 1.64412020e-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: -0.001756044772230285
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.16114669e-14, -3.16114669e-14,  1.00000000e+00,  9.99284841e-28,
        1.00000000e+00,  3.16114669e-14, -1.00000000e+00,  0.00000000e+00,
        3.16114669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05538597, -0.03495143,  0.06183243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.34253822e-05,-5.29858948e-05, 3.63557712e-05,-3.46427891e-05,
  1.86084677e-05, 4.53474770e-05, 1.51365998e-05,-2.44333968e-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,
  1.65432770e-03,-2.61668012e-04,-4.90507404e+00, 5.80725415e-05,
  3.07965105e-02, 7.19140416e-03]


--- Step 2632 ---
qpos:
[-2.49689412e-03, 8.65869530e-01,-2.37209089e-02, 4.01185462e-04,
 -2.92688399e-03, 8.61862043e-01,-2.71346488e-02, 3.13844489e-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,
  7.26398668e-03,-4.28204543e-02, 7.94477536e-02, 7.01687052e-01,
 -8.66146391e-02,-7.01895681e-01,-8.64617767e-02]

qacc:
[-4.36227259e-01,-5.00208592e+00, 1.10779668e+01, 4.05080453e+00,
  6.69757739e-02, 5.61662273e-01, 2.16644977e-01,-5.27193464e+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,
 -3.49949127e+00,-9.44408326e-01,-4.77141329e+00,-8.13607133e+00,
 -1.72427779e+02,-1.16117477e+02]

qfrc_actuator:
[ 2.25320463e-03, 2.72575112e-02, 8.71774577e-03, 1.65469403e-03,
 -6.98366752e-06, 2.74492759e-02, 8.67968393e-03, 1.63050020e-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: -0.0017739695921127063
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56460267e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.56460267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05535124, -0.03495652,  0.0618309 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.98640097e-05,-1.08159723e-04, 8.41021906e-05, 4.88282330e-05,
  1.21740873e-05, 6.15290785e-05, 4.95905032e-06,-1.16316165e-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,
  2.76335583e-04,-2.53659744e-04,-4.90502780e+00, 1.94670713e-05,
  3.07977424e-02, 7.18674538e-03]


--- Step 2633 ---
qpos:
[-2.49893875e-03, 8.65867784e-01,-2.37191525e-02, 4.02806747e-04,
 -2.92705729e-03, 8.61863465e-01,-2.71339730e-02, 3.13879174e-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,
  7.24779368e-03,-4.28274839e-02, 7.94206851e-02, 7.01383496e-01,
 -8.64135184e-02,-7.02198822e-01,-8.66643558e-02]

qacc:
[-5.65382891e-02,-3.33345266e-01,-5.86123801e+00, 2.79292605e+01,
  4.36059968e-02,-2.63919603e-01,-1.71888293e+00, 1.09800809e+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,
 -3.19059108e+00, 1.38057155e+00,-3.90592444e+00, 2.60453465e+00,
 -1.96284083e+02, 4.26765918e+01]

qfrc_actuator:
[ 2.28083107e-03, 2.72257186e-02, 8.75349455e-03, 1.71978471e-03,
 -4.95706303e-06, 2.74155491e-02, 8.69419520e-03, 1.65809396e-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: -0.0017675668188549755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57455333e-07,  4.57455354e-07,  1.00000000e+00, -2.09265391e-13,
        1.00000000e+00, -4.57455354e-07, -1.00000000e+00,  2.52435490e-29,
        4.57455333e-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([ 0.04974659, -0.05778874,  0.06183137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04705176e-05,-7.28041463e-05, 2.54629270e-05, 6.43195138e-05,
  7.81316891e-06, 1.16758373e-06, 2.74131346e-05, 3.01722220e-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,
  3.03088703e-05, 1.24038239e-04,-4.90501403e+00, 8.33727199e-06,
  3.07958343e-02, 7.18634611e-03]


--- Step 2634 ---
qpos:
[-2.50085283e-03, 8.65865381e-01,-2.37174773e-02, 4.04541131e-04,
 -2.92736516e-03, 8.61864728e-01,-2.71324689e-02, 3.13909932e-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,
  7.21988305e-03,-4.28289594e-02, 7.93762552e-02, 7.00833333e-01,
 -8.63052746e-02,-7.02748762e-01,-8.67652976e-02]

qacc:
[ 6.86334486e-02,-4.08729549e-01,-2.79968377e-01, 2.84984271e+00,
 -7.02924951e-02,-2.60238547e+00, 9.14224716e+00,-1.10333263e+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,
 -2.92940639e+00, 1.38850395e+00,-4.34032136e+00, 3.15290739e+00,
 -1.81550606e+02, 4.69028597e+01]

qfrc_actuator:
[ 2.29829039e-03, 2.71723173e-02, 8.73831438e-03, 1.72190168e-03,
 -2.14736710e-05, 2.74125740e-02, 8.73786392e-03, 1.65641581e-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: -0.001760760846364992
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15267978e-14, -4.72901967e-14,  1.00000000e+00,  1.49090847e-27,
        1.00000000e+00,  4.72901967e-14, -1.00000000e+00,  0.00000000e+00,
        3.15267978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04948962, -0.05887009,  0.0618318 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24584532e-05,-8.60697429e-05,-2.48543294e-05, 1.12951592e-06,
 -1.28084699e-05, 4.59285225e-06, 4.83145044e-05,-9.58451542e-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,
  6.78614225e-04, 3.40045679e-04,-4.90503180e+00, 2.05553612e-05,
  3.07972353e-02, 7.18741091e-03]


--- Step 2635 ---
qpos:
[-2.50240208e-03, 8.65862311e-01,-2.37156646e-02, 4.05929267e-04,
 -2.92802532e-03, 8.61865548e-01,-2.71300015e-02, 3.13975703e-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,
  7.20205376e-03,-4.28265084e-02, 7.93541597e-02, 7.00473713e-01,
 -8.63081142e-02,-7.03107019e-01,-8.67640894e-02]

qacc:
[ 1.91573771e-01,-1.97870279e+00, 7.23650661e+00,-1.29589698e+01,
 -1.84747180e-01,-2.55368927e+00, 6.77972318e+00,-1.93860715e+00,
 -7.14967037e-02, 2.70782044e+00,-8.50867535e+00, 9.61233587e+00,
  4.21677172e-02,-5.09629045e-01,-7.00708249e+00, 2.35589498e+01,
  2.52033541e+00, 9.81616251e-01, 5.58356809e+00,-3.12588152e+00,
  1.24894267e+02, 9.13649491e+01]

qfrc_actuator:
[ 2.32720592e-03, 2.71416318e-02, 8.74633748e-03, 1.70465762e-03,
 -4.89323785e-05, 2.73748738e-02, 8.78071915e-03, 1.67306208e-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: -0.0017410265118744197
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65427567e-07, -3.30855341e-07,  1.00000000e+00,  5.47325940e-14,
        1.00000000e+00,  3.30855341e-07, -1.00000000e+00,  0.00000000e+00,
        1.65427567e-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([ 0.00051119, -0.04606314,  0.06183325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48496455e-05,-8.38521165e-05,-1.27718138e-05,-2.17707200e-05,
 -3.35387692e-05,-2.52021702e-05, 4.97310834e-05, 1.85089073e-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,
  2.01054737e-03, 1.30819445e-04,-4.90507470e+00, 2.55499060e-05,
  3.07994261e-02, 7.18810404e-03]


--- Step 2636 ---
qpos:
[-2.50322040e-03, 8.65859884e-01,-2.37152119e-02, 4.07034259e-04,
 -2.92883418e-03, 8.61865791e-01,-2.71276862e-02, 3.14035951e-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,
  7.19423918e-03,-4.28195656e-02, 7.93485238e-02, 7.00301632e-01,
 -8.64343967e-02,-7.03276994e-01,-8.66498009e-02]

qacc:
[ 3.82109458e-01, 4.06504111e+00,-1.20669314e+01, 8.87333264e+00,
 -7.82119092e-02,-4.50075530e-01, 7.32777392e-01,-1.02193667e+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,
  2.50367709e+00, 1.12296692e+00, 4.11490630e+00,-3.55541960e+00,
  1.21637944e+02, 9.92625384e+01]

qfrc_actuator:
[ 2.38046130e-03, 2.72313654e-02, 8.69708586e-03, 1.69396368e-03,
 -4.71795372e-05, 2.72989339e-02, 8.75160942e-03, 1.66482404e-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: -0.001771713506446164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13319005e-14, -6.26638009e-14,  1.00000000e+00,  1.96337597e-27,
        1.00000000e+00,  6.26638009e-14, -1.00000000e+00,  0.00000000e+00,
        3.13319005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0008    , -0.04707168,  0.06183044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98685258e-05, 3.93386340e-05,-6.88883764e-05,-1.51522481e-05,
 -1.41716074e-05,-7.90131009e-05,-2.75732168e-05,-7.24158961e-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,
  8.18786036e-04,-1.05564150e-04,-4.90502970e+00,-2.35657586e-06,
  3.08003191e-02, 7.18875464e-03]


--- Step 2637 ---
qpos:
[-2.50372867e-03, 8.65858792e-01,-2.37163364e-02, 4.06890971e-04,
 -2.92951172e-03, 8.61865609e-01,-2.71265504e-02, 3.14022197e-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,
  7.19572020e-03,-4.28084421e-02, 7.93553772e-02, 7.00303597e-01,
 -8.66753670e-02,-7.03272366e-01,-8.64305094e-02]

qacc:
[ 1.61033546e-01, 3.59726360e+00,-5.00163169e+00,-1.50550116e+01,
  6.85235219e-02, 1.20785859e+00,-2.00045101e+00,-8.60533616e+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,
  2.32389909e+00, 1.04518596e+00, 3.12234487e+00,-3.27790266e+00,
  1.12832004e+02, 9.21819651e+01]

qfrc_actuator:
[ 2.37679804e-03, 2.73390476e-02, 8.63266455e-03, 1.63401731e-03,
 -2.79624334e-05, 2.72536185e-02, 8.68005085e-03, 1.62416811e-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: -0.0017796048337864953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11929650e-14, -6.23859299e-14,  1.00000000e+00,  1.94600213e-27,
        1.00000000e+00,  6.23859299e-14, -1.00000000e+00,  0.00000000e+00,
        3.11929650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079458, -0.04706993,  0.06182972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96639633e-05, 1.14865400e-04,-6.52947920e-05,-6.09400296e-05,
  1.24807000e-05,-9.55292744e-05,-9.15457668e-05,-4.51406306e-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,
  1.57667513e-04,-1.42058311e-04,-4.90501551e+00,-3.35955695e-06,
  3.08017341e-02, 7.18838825e-03]


--- Step 2638 ---
qpos:
[-2.50429757e-03, 8.65858598e-01,-2.37173832e-02, 4.05970321e-04,
 -2.92981721e-03, 8.61864712e-01,-2.71256842e-02, 3.13991850e-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,
  7.20590473e-03,-4.27933919e-02, 7.93713632e-02, 7.00468261e-01,
 -8.70237307e-02,-7.03104305e-01,-8.61128432e-02]

qacc:
[-3.20993693e-02,-6.31420366e-01, 7.25401814e+00,-2.14920324e+01,
  1.96014390e-01,-5.33396914e-01, 1.23082181e+00,-3.14563806e+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,
  2.17587833e+00, 9.81654931e-01, 2.28312780e+00,-3.02359890e+00,
  1.05532649e+02, 8.63233759e+01]

qfrc_actuator:
[ 2.35686472e-03, 2.74032929e-02, 8.64866586e-03, 1.59885577e-03,
  1.51268205e-06, 2.72267573e-02, 8.67287435e-03, 1.61802621e-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: -0.001768928169943479
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35359265e-14, -6.27624707e-14,  1.00000000e+00,  1.47717290e-27,
        1.00000000e+00,  6.27624707e-14, -1.00000000e+00,  0.00000000e+00,
        2.35359265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00080258, -0.04707208,  0.06183071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.76926174e-06, 1.12419642e-04, 2.95886279e-05,-3.36839530e-05,
  3.53896009e-05,-1.01121969e-04,-3.97550801e-05,-1.42828714e-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,
  7.04937637e-06, 4.06831723e-05,-4.90502877e+00, 2.29691276e-05,
  3.08036591e-02, 7.18691034e-03]


--- Step 2639 ---
qpos:
[-2.50501763e-03, 8.65858842e-01,-2.37181203e-02, 4.05713685e-04,
 -2.93032104e-03, 8.61863625e-01,-2.71254756e-02, 3.13950199e-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,
  7.21878457e-03,-4.27919520e-02, 7.93879815e-02, 7.00717141e-01,
 -8.70959536e-02,-7.02854127e-01,-8.60572990e-02]

qacc:
[-7.91713609e-02, 1.08085417e+00,-5.81634200e+00, 1.64909414e+01,
 -1.04808532e-01, 1.35273318e+00,-4.71104489e+00, 3.94797677e+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,
  6.73827504e-01,-3.40256648e+00, 1.58077889e-01, 4.69307574e+00,
  8.16617516e+01,-1.81682896e+02]

qfrc_actuator:
[ 2.34516868e-03, 2.74058739e-02, 8.65863866e-03, 1.63185142e-03,
 -3.41611739e-05, 2.72469339e-02, 8.65063105e-03, 1.61456201e-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: -0.0017686475076019448
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.13862152e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.13862152e-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([ 0.00674266, -0.02202742,  0.06183083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44319630e-05, 7.01266999e-05, 3.56821653e-05, 3.81832009e-05,
 -1.88865328e-05,-4.51712238e-05,-4.85199213e-05,-9.45009247e-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,
  2.69379890e-04, 4.00722522e-04,-4.90506451e+00, 7.24469244e-05,
  3.08058927e-02, 7.18448161e-03]


--- Step 2640 ---
qpos:
[-2.50550776e-03, 8.65859784e-01,-2.37196123e-02, 4.05550211e-04,
 -2.93114061e-03, 8.61862688e-01,-2.71260554e-02, 3.13901150e-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,
  7.23421505e-03,-4.28032785e-02, 7.94026674e-02, 7.01044830e-01,
 -8.69099287e-02,-7.02527057e-01,-8.62469934e-02]

qacc:
[ 1.19836875e-01, 3.22052362e+00,-1.05404592e+01, 1.28504687e+01,
 -1.66851896e-01, 2.24645706e+00,-7.41117946e+00, 7.28387317e+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,
  6.37658945e-01,-3.19160568e+00,-4.83086816e-01, 4.41929486e+00,
  7.64273212e+01,-1.69937164e+02]

qfrc_actuator:
[ 2.37403503e-03, 2.74248145e-02, 8.61147353e-03, 1.63360042e-03,
 -5.52449604e-05, 2.72773412e-02, 8.61984367e-03, 1.61271792e-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: -0.001753336165766138
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.16603013e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.16603013e-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([ 0.00673794, -0.02201121,  0.06183227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19921506e-05, 6.71595081e-05,-2.69591730e-05, 6.73270133e-06,
 -3.00538525e-05,-5.25417870e-06,-4.64138103e-05,-5.64019137e-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,
  4.20418386e-04, 5.34473585e-05,-4.90501761e+00, 6.55617590e-05,
  3.08005278e-02, 7.18447159e-03]


--- Step 2641 ---
qpos:
[-2.50552052e-03, 8.65860797e-01,-2.37211018e-02, 4.05092908e-04,
 -2.93186453e-03, 8.61861892e-01,-2.71271035e-02, 3.13882634e-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,
  7.23551543e-03,-4.28182837e-02, 7.93983960e-02, 7.01106041e-01,
 -8.65979351e-02,-7.02463244e-01,-8.65823777e-02]

qacc:
[ 2.50229310e-01,-5.17043892e-01, 3.22112346e+00,-8.36289180e+00,
  5.00478746e-02, 2.12053659e+00,-8.58225358e+00, 1.45152672e+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,
 -3.53252359e+00,-9.19660492e-01,-4.73934164e+00,-7.24801059e+00,
 -1.74118582e+02,-1.18247084e+02]

qfrc_actuator:
[ 2.40916557e-03, 2.73998784e-02, 8.60197675e-03, 1.61690669e-03,
 -3.18726864e-05, 2.72958700e-02, 8.60207613e-03, 1.62960469e-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: -0.0017327807298360004
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20358775e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.20358775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05542644, -0.03494595,  0.06183415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56249420e-05, 7.33203622e-06, 1.29000845e-06,-1.46180102e-05,
  9.10603749e-06, 5.78766549e-06,-2.47533928e-05, 1.49489415e-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,
  5.94750246e-04,-4.46436425e-04,-4.90503170e+00, 1.40304119e-05,
  3.07990065e-02, 7.18647557e-03]


--- Step 2642 ---
qpos:
[-2.50508776e-03, 8.65860704e-01,-2.37218664e-02, 4.04887539e-04,
 -2.93257989e-03, 8.61861610e-01,-2.71288560e-02, 3.13881255e-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,
  7.22402232e-03,-4.28271260e-02, 7.93787853e-02, 7.00897377e-01,
 -8.63858712e-02,-7.02669885e-01,-8.68065729e-02]

qacc:
[ 2.34440090e-01,-2.96660339e+00, 7.39465343e+00,-3.38355446e+00,
  3.89106953e-03, 2.99728469e+00,-1.04270528e+01, 1.41454473e+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,
 -3.19837339e+00, 1.54070651e+00,-3.83481908e+00, 4.04551481e+00,
 -1.98737602e+02, 5.06826068e+01]

qfrc_actuator:
[ 2.42996258e-03, 2.72779526e-02, 8.61462564e-03, 1.62500229e-03,
 -3.53697773e-05, 2.73427268e-02, 8.57436320e-03, 1.63962761e-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: -0.0017423285051451909
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59301622e-14,  3.98254054e-14,  1.00000000e+00, -6.34425166e-28,
        1.00000000e+00, -3.98254054e-14, -1.00000000e+00,  0.00000000e+00,
        1.59301622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04951635, -0.05888812,  0.06183327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25530978e-05,-1.18191754e-04, 1.38200187e-05, 8.17052990e-06,
  8.26262340e-07, 4.56500817e-05,-2.90353076e-05, 9.70803720e-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,
  3.94892535e-06,-5.89362695e-05,-4.90500187e+00,-5.74790574e-06,
  3.07957330e-02, 7.18643702e-03]


--- Step 2643 ---
qpos:
[-2.50413084e-03, 8.65859489e-01,-2.37217852e-02, 4.04775827e-04,
 -2.93331016e-03, 8.61861300e-01,-2.71303939e-02, 3.13754339e-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,
  7.20065914e-03,-4.28302532e-02, 7.93420914e-02, 7.00438329e-01,
 -8.62662762e-02,-7.03127195e-01,-8.69276983e-02]

qacc:
[ 2.75734242e-01,-3.65043241e+00, 1.04711550e+01,-9.38154384e+00,
 -7.78023920e-03,-3.21773690e+00, 1.67217694e+01,-3.87754144e+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,
 -2.96751926e+00, 1.42880047e+00,-4.27078167e+00, 3.87142100e+00,
 -1.84281006e+02, 4.69135259e+01]

qfrc_actuator:
[ 2.45975299e-03, 2.72232506e-02, 8.65759112e-03, 1.62979065e-03,
 -3.71870266e-05, 2.73173874e-02, 8.57661176e-03, 1.57453353e-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: -0.0017414152823081869
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59385162e-14,  7.96925808e-15,  1.00000000e+00, -1.27018149e-28,
        1.00000000e+00, -7.96925808e-15, -1.00000000e+00,  0.00000000e+00,
        1.59385162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04951531, -0.05888781,  0.06183323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00676670e-05,-1.17575582e-04, 2.05467629e-05, 3.63647027e-07,
 -1.41915751e-06,-5.37284130e-06, 8.45114930e-06,-6.39514117e-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,
  3.44696609e-04, 2.83255127e-04,-4.90501398e+00, 8.44434856e-06,
  3.07977036e-02, 7.18818184e-03]


--- Step 2644 ---
qpos:
[-2.50311597e-03, 8.65857768e-01,-2.37197680e-02, 4.04911277e-04,
 -2.93386919e-03, 8.61860466e-01,-2.71308387e-02, 3.13585303e-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,
  7.18791716e-03,-4.28285881e-02, 7.93253780e-02, 7.00178623e-01,
 -8.62776290e-02,-7.03384260e-01,-8.69289873e-02]

qacc:
[ 3.17891756e-02,-5.56638001e+00, 1.78357587e+01,-1.62882782e+01,
  9.10424343e-02,-4.60953184e+00, 1.72114917e+01,-2.58694606e+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,
  2.65530221e+00, 1.19803855e+00, 4.99509993e+00,-3.83545758e+00,
  1.29351391e+02, 1.05306920e+02]

qfrc_actuator:
[ 2.44142471e-03, 2.72803515e-02, 8.78934630e-03, 1.65040478e-03,
 -2.02236874e-05, 2.72845715e-02, 8.63170514e-03, 1.55449060e-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: -0.0017861328934811321
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10789591e-14, -6.21579183e-14,  1.00000000e+00,  1.93180340e-27,
        1.00000000e+00,  6.21579183e-14, -1.00000000e+00,  0.00000000e+00,
        3.10789591e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078944, -0.04706609,  0.06182908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53414830e-06,-4.35347213e-06, 1.10023847e-04, 1.62967717e-05,
  1.62898609e-05,-3.67930790e-05, 5.28281505e-05,-2.12206303e-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,
  1.41787591e-03, 1.91401037e-04,-4.90505072e+00, 1.50387990e-05,
  3.08000092e-02, 7.18924632e-03]


--- Step 2645 ---
qpos:
[-2.50219336e-03, 8.65856527e-01,-2.37168811e-02, 4.05581833e-04,
 -2.93367934e-03, 8.61859766e-01,-2.71311699e-02, 3.13460900e-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,
  7.18496804e-03,-4.28225006e-02, 7.93241175e-02, 7.00102826e-01,
 -8.64098512e-02,-7.03456961e-01,-8.68197812e-02]

qacc:
[-4.79630734e-02,-6.92528226e-01, 1.13281662e+00, 6.38222503e+00,
  3.94460348e-01, 7.77549381e-01,-4.40038724e+00, 1.18459450e+01,
  3.08019947e-01,-2.58541129e+00, 9.19677665e+00,-1.56887909e+01,
  4.96087107e-02, 5.14201186e-02,-4.81829293e+00, 1.65091193e+01,
  2.44821530e+00, 1.10563565e+00, 3.86324517e+00,-3.53453216e+00,
  1.19202751e+02, 9.71387351e+01]

qfrc_actuator:
[ 2.42998703e-03, 2.73511101e-02, 8.84867824e-03, 1.68032341e-03,
  4.33330770e-05, 2.73187881e-02, 8.64653064e-03, 1.57889897e-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: -0.001809120104208306
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13681216e-14, -3.06840608e-14,  1.00000000e+00,  1.88302317e-27,
        1.00000000e+00,  3.06840608e-14, -1.00000000e+00,  0.00000000e+00,
        6.13681216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077296, -0.04706132,  0.06182697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.79881375e-06, 9.17691055e-05, 7.25486816e-05, 3.38564609e-05,
  7.12844576e-05, 2.36722361e-05, 1.30138175e-05, 2.42519428e-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,
  4.23271757e-04,-6.01801098e-05,-4.90501627e+00,-1.13108807e-05,
  3.08010944e-02, 7.18951503e-03]


--- Step 2646 ---
qpos:
[-2.50138981e-03, 8.65855915e-01,-2.37141256e-02, 4.05964867e-04,
 -2.93292547e-03, 8.61859635e-01,-2.71320663e-02, 3.13331234e-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,
  7.19112845e-03,-4.28122933e-02, 7.93344796e-02, 7.00197975e-01,
 -8.66545458e-02,-7.03358289e-01,-8.66077576e-02]

qacc:
[-6.27410575e-02, 6.07097017e-01, 2.56181601e-01,-5.48421958e+00,
  2.96478684e-01, 2.22049395e+00,-6.60607168e+00, 6.18406457e+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,
  2.27738136e+00, 1.02992326e+00, 2.90562653e+00,-3.26090180e+00,
  1.10791068e+02, 9.03759935e+01]

qfrc_actuator:
[ 2.42281073e-03, 2.73582682e-02, 8.82934291e-03, 1.66218005e-03,
  6.31892297e-05, 2.73572704e-02, 8.61998494e-03, 1.57602118e-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: -0.0018102474070075675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.13299055e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.13299055e-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([-0.00077235, -0.04706112,  0.06182687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13617655e-05, 7.49103911e-05, 9.71335410e-06,-1.10457799e-05,
  5.36963989e-05, 5.54758751e-05,-1.92047771e-05,-9.38808750e-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,
  2.44270031e-05,-5.05520258e-05,-4.90501429e+00,-6.43653788e-06,
  3.08028626e-02, 7.18854411e-03]


--- Step 2647 ---
qpos:
[-2.50087632e-03, 8.65855506e-01,-2.37116376e-02, 4.05503166e-04,
 -2.93234496e-03, 8.61859953e-01,-2.71332893e-02, 3.13233557e-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,
  7.20583663e-03,-4.27982136e-02, 7.93532263e-02, 7.00453166e-01,
 -8.70047143e-02,-7.03098846e-01,-8.62992151e-02]

qacc:
[-1.52355288e-01,-7.25331535e-01, 6.53835295e+00,-2.08782530e+01,
 -9.16438049e-02, 2.16253385e+00,-8.20118468e+00, 1.39321662e+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,
  2.13694251e+00, 9.68115286e-01, 2.09616907e+00,-3.01033191e+00,
  1.03819840e+02, 8.47803981e+01]

qfrc_actuator:
[ 2.40050234e-03, 2.73269244e-02, 8.79896576e-03, 1.61580806e-03,
  2.12050763e-05, 2.73800707e-02, 8.60475524e-03, 1.59259737e-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: -0.0017937949170063888
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.18924167e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.18924167e-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([-0.00078441, -0.04706457,  0.06182838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77177093e-05, 1.20669476e-05,-1.41091824e-05,-4.30456415e-05,
 -1.64880759e-05, 4.98334642e-05,-6.16181824e-06, 1.82724264e-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,
  9.92248492e-05, 1.66501648e-04,-4.90503747e+00, 2.44111366e-05,
  3.08050906e-02, 7.18652915e-03]


--- Step 2648 ---
qpos:
[-2.50045576e-03, 8.65855284e-01,-2.37097929e-02, 4.04518656e-04,
 -2.93211280e-03, 8.61860824e-01,-2.71341458e-02, 3.13046701e-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,
  7.22314456e-03,-4.27975418e-02, 7.93721434e-02, 7.00791805e-01,
 -8.70814535e-02,-7.02757884e-01,-8.62497724e-02]

qacc:
[-4.92164751e-02, 9.68269604e-01,-8.86824721e-01,-7.26858678e+00,
 -1.83484482e-01,-2.12719465e+00, 1.24109961e+01,-2.88408617e+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,
  6.49939987e-01,-3.35197924e+00, 4.25837231e-02, 4.78840234e+00,
  8.09567368e+01,-1.79720488e+02]

qfrc_actuator:
[ 2.40483858e-03, 2.73259137e-02, 8.76215212e-03, 1.58867639e-03,
 -4.11361398e-06, 2.74288593e-02, 8.63180780e-03, 1.54948396e-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: -0.0017803237146498119
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.2360739e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.2360739e-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([ 0.0067528 , -0.02204041,  0.06182967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.87928979e-06, 9.65408121e-07,-3.75651309e-05,-2.79431000e-05,
 -3.31394250e-05, 7.61660455e-05, 3.72265473e-05,-4.08331269e-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,
  5.59023267e-04, 5.52220990e-04,-4.90508200e+00, 7.73792527e-05,
  3.08075803e-02, 7.18361625e-03]


--- Step 2649 ---
qpos:
[-2.50042477e-03, 8.65854303e-01,-2.37069589e-02, 4.04261328e-04,
 -2.93183136e-03, 8.61862189e-01,-2.71343645e-02, 3.12773914e-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,
  7.24292614e-03,-4.28094672e-02, 7.93887310e-02, 7.01208576e-01,
 -8.69022698e-02,-7.02340470e-01,-8.64430050e-02]

qacc:
[-2.03319490e-01,-2.26741649e+00, 3.56327951e+00, 7.99336636e+00,
  2.61367755e-02,-2.89577494e+00, 1.49016771e+01,-3.11607074e+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,
  6.18410008e-01,-3.14928645e+00,-5.82343255e-01, 4.50832630e+00,
  7.58446187e+01,-1.68260238e+02]

qfrc_actuator:
[ 2.37182259e-03, 2.72720256e-02, 8.81072264e-03, 1.62636277e-03,
  1.63165913e-05, 2.74574524e-02, 8.66591469e-03, 1.50714579e-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: -0.0017616742429054644
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15104518e-14, -3.15104518e-14,  1.00000000e+00,  9.92908570e-28,
        1.00000000e+00,  3.15104518e-14, -1.00000000e+00,  0.00000000e+00,
        3.15104518e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00674727, -0.02202096,  0.0618314 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72496826e-05,-6.23132932e-05, 4.31632990e-05, 3.58827772e-05,
  4.70887875e-06, 7.71070412e-05, 5.30136817e-05,-3.85784020e-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,
  7.67739284e-04, 4.53870021e-05,-4.90503056e+00, 6.01758679e-05,
  3.08007255e-02, 7.18383388e-03]


--- Step 2650 ---
qpos:
[-2.50097027e-03, 8.65852783e-01,-2.37038628e-02, 4.04825197e-04,
 -2.93158553e-03, 8.61863319e-01,-2.71338853e-02, 3.12599666e-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,
  7.24802764e-03,-4.28251551e-02, 7.93872079e-02, 7.01348339e-01,
 -8.65907402e-02,-7.02196870e-01,-8.67877132e-02]

qacc:
[-3.01845675e-01, 2.45343420e-01,-5.37607535e+00, 1.95653323e+01,
 -1.81703386e-02,-2.30897669e-01,-3.78637216e+00, 1.98964169e+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,
 -3.67001847e+00,-9.40653553e-01,-4.52770661e+00,-6.99432698e+00,
 -1.80975049e+02,-1.23454102e+02]

qfrc_actuator:
[ 2.33448171e-03, 2.72405399e-02, 8.82038502e-03, 1.66639386e-03,
  1.06799360e-05, 2.74027555e-02, 8.68608358e-03, 1.55436014e-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: -0.0017674544362185698
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.14074016e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.14074016e-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([ 0.05535698, -0.03497274,  0.06183097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.51117574e-05,-5.58816326e-05, 3.33872554e-06, 3.95522694e-05,
 -3.39203807e-06,-2.31069366e-06, 4.12850514e-05, 5.16037715e-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,
  9.95940251e-04,-6.01499073e-04,-4.90504034e+00,-4.64506135e-07,
  3.07977759e-02, 7.18603721e-03]


--- Step 2651 ---
qpos:
[-2.50183362e-03, 8.65851588e-01,-2.37017997e-02, 4.04807009e-04,
 -2.93157947e-03, 8.61864443e-01,-2.71337120e-02, 3.12487488e-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,
  7.23995204e-03,-4.28344361e-02, 7.93711969e-02, 7.01209449e-01,
 -8.63814759e-02,-7.02332892e-01,-8.70175684e-02]

qacc:
[-1.67435041e-01, 2.11681372e+00,-4.46728218e+00,-4.19100448e+00,
 -1.26433486e-01, 2.12244855e+00,-1.02008467e+01, 2.14393647e+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,
 -3.29427697e+00, 1.60174515e+00,-3.62196691e+00, 4.53244283e+00,
 -2.05301272e+02, 5.19829650e+01]

qfrc_actuator:
[ 2.33039391e-03, 2.72758388e-02, 8.77152894e-03, 1.63643635e-03,
 -1.05316587e-05, 2.73873791e-02, 8.66206933e-03, 1.58279452e-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: -0.0017911221813896872
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.54961933e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.54961933e-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([ 0.04942651, -0.05886181,  0.06182887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03740523e-05, 6.44009149e-06,-5.86292703e-05,-3.14682017e-05,
 -2.28233413e-05,-5.96008739e-06,-1.76286467e-05, 3.07690906e-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,
  6.90082366e-05,-2.34981191e-04,-4.90499501e+00,-2.79996789e-05,
  3.07936352e-02, 7.18606201e-03]


--- Step 2652 ---
qpos:
[-2.50286863e-03, 8.65850894e-01,-2.37007956e-02, 4.04409303e-04,
 -2.93144644e-03, 8.61865773e-01,-2.71344870e-02, 3.12446613e-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,
  7.21968508e-03,-4.28377999e-02, 7.93388248e-02, 7.00813017e-01,
 -8.62666739e-02,-7.02727234e-01,-8.71413246e-02]

qacc:
[-9.08579911e-02, 2.83637805e+00,-7.55409637e+00, 2.31516690e+00,
  6.62297942e-02, 4.38633342e+00,-1.82565699e+01, 3.19672272e+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,
 -3.04783857e+00, 1.47928607e+00,-4.09028446e+00, 4.25516600e+00,
 -1.89700754e+02, 4.80084279e+01]

qfrc_actuator:
[ 2.32847727e-03, 2.73150530e-02, 8.72425719e-03, 1.61881835e-03,
  1.23880833e-05, 2.73954600e-02, 8.61226968e-03, 1.61768406e-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: -0.001796065511508002
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09070860e-14, -1.54535430e-14,  1.00000000e+00,  4.77623983e-28,
        1.00000000e+00,  1.54535430e-14, -1.00000000e+00,  0.00000000e+00,
        3.09070860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04941554, -0.05885765,  0.06182834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63972603e-05, 2.93688706e-05,-5.42598079e-05,-1.99845709e-05,
  1.20848507e-05, 2.39611032e-06,-5.21458963e-05, 3.46230693e-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,
  1.68665858e-04, 2.07790908e-04,-4.90500273e+00,-1.16323703e-05,
  3.07958138e-02, 7.18839836e-03]


--- Step 2653 ---
qpos:
[-2.50399207e-03, 8.65850399e-01,-2.36998171e-02, 4.04460307e-04,
 -2.93092348e-03, 8.61866927e-01,-2.71349545e-02, 3.12547671e-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,
  7.20986581e-03,-4.28364919e-02, 7.93253460e-02, 7.00612529e-01,
 -8.62804492e-02,-7.02924691e-01,-8.71472719e-02]

qacc:
[-4.64282731e-02, 1.25908400e+00,-6.00033552e+00, 1.36607036e+01,
  2.05707268e-01, 1.82831117e+00,-1.28498295e+01, 3.70541167e+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,
  2.61192229e+00, 1.16796791e+00, 4.72333459e+00,-3.78724375e+00,
  1.27153480e+02, 1.03488092e+02]

qfrc_actuator:
[ 2.32784429e-03, 2.73385591e-02, 8.73163314e-03, 1.64413961e-03,
  4.37631773e-05, 2.73996522e-02, 8.63652674e-03, 1.69161137e-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: -0.0017815818609257655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11583500e-14, -1.55791750e-14,  1.00000000e+00, -4.85421388e-28,
        1.00000000e+00,  1.55791750e-14, -1.00000000e+00,  0.00000000e+00,
       -3.11583500e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079259, -0.04706432,  0.0618294 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.44652113e-06, 2.78756003e-05, 6.06408259e-06, 2.43128885e-05,
  3.71120701e-05,-3.77779728e-06, 1.95214134e-05, 7.28986198e-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,
  1.06511067e-03, 1.83356331e-04,-4.90503771e+00,-3.81361568e-06,
  3.07982498e-02, 7.18987580e-03]


--- Step 2654 ---
qpos:
[-2.50515640e-03, 8.65850111e-01,-2.36987952e-02, 4.05153156e-04,
 -2.93002228e-03, 8.61867814e-01,-2.71347580e-02, 3.12700606e-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,
  7.20969858e-03,-4.28308607e-02, 7.93264041e-02, 7.00593149e-01,
 -8.64130922e-02,-7.02940455e-01,-8.70444309e-02]

qacc:
[-2.14488636e-02, 1.47194131e+00,-7.56263517e+00, 1.84505409e+01,
  1.99746189e-01,-1.13893130e+00, 1.35966390e+00, 6.75167901e+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,
  2.41300996e+00, 1.08078926e+00, 3.63423145e+00,-3.50909094e+00,
  1.17428787e+02, 9.56166531e+01]

qfrc_actuator:
[ 2.32796694e-03, 2.73527407e-02, 8.73568269e-03, 1.67679537e-03,
  6.21450804e-05, 2.73840592e-02, 8.66883613e-03, 1.71695929e-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: -0.0017999044830022126
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.16823301e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.16823301e-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([-0.00077947, -0.04706038,  0.06182771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90168214e-06, 3.20682857e-05, 1.13923393e-05, 3.45324786e-05,
  3.59967208e-05,-1.05718892e-05, 3.64501250e-05, 2.72776191e-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,
  2.51494204e-04,-3.55371101e-05,-4.90501077e+00,-2.61349125e-05,
  3.07996220e-02, 7.18973765e-03]


--- Step 2655 ---
qpos:
[-2.50614864e-03, 8.65850328e-01,-2.36984124e-02, 4.06240758e-04,
 -2.92864531e-03, 8.61868499e-01,-2.71343570e-02, 3.12781531e-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,
  7.21852755e-03,-4.28211923e-02, 7.93383137e-02, 7.00742415e-01,
 -8.66565126e-02,-7.02786948e-01,-8.68402113e-02]

qacc:
[ 8.96679366e-02, 3.26432632e+00,-1.23381421e+01, 1.98237243e+01,
  2.50727287e-01,-2.31940965e+00, 1.09229365e+01,-2.35662450e+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,
  2.24904814e+00, 1.00930592e+00, 2.71287889e+00,-3.25379760e+00,
  1.09367093e+02, 8.91009073e+01]

qfrc_actuator:
[ 2.34628343e-03, 2.73789940e-02, 8.70217235e-03, 1.69572658e-03,
  9.03394341e-05, 2.73567564e-02, 8.66999215e-03, 1.67798715e-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: -0.0017973724410959985
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31634593e-14, -3.08846124e-14,  1.00000000e+00,  7.15394464e-28,
        1.00000000e+00,  3.08846124e-14, -1.00000000e+00,  0.00000000e+00,
        2.31634593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078149, -0.04706082,  0.06182794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64590934e-05, 4.80171429e-05,-2.42944374e-05, 2.13694632e-05,
  4.52793667e-05,-2.45386947e-05, 4.39645770e-06,-3.76369642e-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,
  2.00612263e-06,-3.83050700e-06,-4.90501494e+00,-1.84115209e-05,
  3.08016067e-02, 7.18841449e-03]


--- Step 2656 ---
qpos:
[-2.50675504e-03, 8.65851107e-01,-2.36984586e-02, 4.06834220e-04,
 -2.92724662e-03, 8.61869184e-01,-2.71342907e-02, 3.12816344e-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,
  7.23514846e-03,-4.28085449e-02, 7.93595889e-02, 7.01039479e-01,
 -8.69837796e-02,-7.02484872e-01,-8.65590855e-02]

qacc:
[ 2.01792104e-01, 9.23626333e-01,-1.29665844e-01,-8.14817672e+00,
  1.12040463e-02,-1.39189252e-02, 1.99688365e+00,-9.44250813e+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,
  1.94798842e+00, 7.44748262e-01, 2.34138099e+00,-2.40017879e+00,
  9.70167214e+01, 6.92635428e+01]

qfrc_actuator:
[ 2.37531959e-03, 2.74121086e-02, 8.68229654e-03, 1.67090815e-03,
  7.09145374e-05, 2.73579749e-02, 8.65265002e-03, 1.65471222e-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([ 8.63636364,  8.15168031, -2.85252257,  8.15168031, 17.93055518,
       26.56009768, -2.85252257, 26.56009768, 84.537402  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017786699215119259
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12093607e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.12093607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00077639, -0.04586957,  0.06182965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68896252e-05, 5.58570166e-05,-1.22181455e-05,-2.31890509e-05,
  2.06617920e-06,-1.32224019e-05,-2.31814068e-05,-2.49101305e-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,
  2.03216430e-04, 2.27826646e-04,-4.90504373e+00, 1.44252215e-05,
  3.08039966e-02, 7.18608353e-03]


--- Step 2657 ---
qpos:
[-2.50718076e-03, 8.65852181e-01,-2.36986463e-02, 4.06795099e-04,
 -2.92633900e-03, 8.61869495e-01,-2.71343311e-02, 3.12895323e-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,
  7.23719220e-03,-4.27994575e-02, 7.93626508e-02, 7.01060833e-01,
 -8.71755122e-02,-7.02455857e-01,-8.64286195e-02]

qacc:
[ 9.45038573e-02,-5.18705363e-01, 5.08264026e+00,-1.60197945e+01,
 -2.58539173e-01, 7.13059448e-01,-5.12398223e+00, 1.32140668e+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,
 -3.64429582e+00,-8.89998451e-01,-4.55329475e+00,-5.58379913e+00,
 -1.80135616e+02,-1.24223191e+02]

qfrc_actuator:
[ 2.37499972e-03, 2.74135752e-02, 8.67064688e-03, 1.63832355e-03,
  2.31818227e-05, 2.73229265e-02, 8.64241899e-03, 1.67638995e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017734613747093578
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.13010207e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.13010207e-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([ 0.05534241, -0.03498866,  0.06183023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72764107e-05, 2.91708015e-05,-2.42801602e-06,-3.10685794e-05,
 -4.67528615e-05,-4.83139476e-05,-1.66867004e-05, 1.98223621e-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,
  7.17344726e-04, 5.62337577e-04,-4.90508495e+00, 6.35745117e-05,
  3.08058851e-02, 7.18317038e-03]


--- Step 2658 ---
qpos:
[-2.50770724e-03, 8.65852725e-01,-2.36983035e-02, 4.06080590e-04,
 -2.92577962e-03, 8.61869550e-01,-2.71345729e-02, 3.13067875e-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,
  7.22575684e-03,-4.27936938e-02, 7.93459147e-02, 7.00827475e-01,
 -8.72429041e-02,-7.02679232e-01,-8.64373885e-02]

qacc:
[-5.23422880e-02,-3.57043465e+00, 1.45681088e+01,-2.67192201e+01,
 -1.83386194e-01, 2.14863095e+00,-1.21038807e+01, 2.88116417e+01,
 -1.76271145e-01,-4.92057235e+00, 1.78672203e+01,-2.48906359e+01,
 -6.41371938e-02, 6.41313026e-01, 8.93042591e+00,-3.05752442e+01,
 -3.36977363e+00,-8.30935566e-01,-4.94952092e+00,-5.51349326e+00,
 -1.66490373e+02,-1.14486416e+02]

qfrc_actuator:
[ 2.35711704e-03, 2.73428391e-02, 8.68156974e-03, 1.60141537e-03,
  1.22264234e-05, 2.73197499e-02, 8.63636062e-03, 1.72432094e-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([ 8.63636364, -7.72684558,  3.85780173, -7.72684558, 22.39997177,
       27.56732513,  3.85780173, 27.56732513, 63.85134849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017807679022949774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23451840e-14,  6.23451840e-14,  1.00000000e+00, -3.88692196e-27,
        1.00000000e+00, -6.23451840e-14, -1.00000000e+00,  0.00000000e+00,
        6.23451840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05532879, -0.03499426,  0.06182961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.64255233e-06,-5.62776947e-05, 1.55663108e-05,-3.63488832e-05,
 -3.31544820e-05,-3.28037596e-05,-1.74090813e-05, 4.56686878e-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,
  1.95296415e-05, 4.21032173e-05,-4.90503793e+00, 4.03655599e-05,
  3.08034452e-02, 7.18551012e-03]


--- Step 2659 ---
qpos:
[-2.50801981e-03, 8.65853216e-01,-2.36982626e-02, 4.04926634e-04,
 -2.92564150e-03, 8.61870222e-01,-2.71358354e-02, 3.13256341e-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,
  7.21712143e-03,-4.28030201e-02, 7.93327683e-02, 7.00685062e-01,
 -8.70168456e-02,-7.02814158e-01,-8.67223826e-02]

qacc:
[ 1.11953213e-01,-1.30997311e-01, 2.22042394e+00,-9.30345359e+00,
 -2.22714426e-01, 3.99199182e+00,-1.37234351e+01, 1.76604046e+01,
 -3.95272166e-01,-4.20503168e+00, 1.59423539e+01,-2.58177206e+01,
 -9.52346070e-02, 9.01280804e-02, 6.40233712e+00,-2.22823295e+01,
  6.99987967e-01,-3.77248981e+00, 8.97426793e-01, 5.92467845e+00,
  8.76786367e+01,-1.92104925e+02]

qfrc_actuator:
[ 2.38216374e-03, 2.73537552e-02, 8.66991533e-03, 1.57996149e-03,
 -1.21142573e-05, 2.73889865e-02, 8.59743791e-03, 1.73407525e-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: -0.0017864321348000228
  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([ 0.00676651, -0.02204313,  0.06182901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04408852e-05,-1.89100721e-05,-2.26231763e-05,-2.40334975e-05,
 -4.00832558e-05, 4.92482401e-05,-4.62625448e-05, 8.63360199e-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,
  3.32167737e-04,-8.05935653e-05,-4.90502571e+00, 4.41231048e-05,
  3.07995399e-02, 7.19029312e-03]


--- Step 2660 ---
qpos:
[-2.50807324e-03, 8.65853891e-01,-2.36988319e-02, 4.04205850e-04,
 -2.92604116e-03, 8.61871093e-01,-2.71366579e-02, 3.13484723e-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,
  7.21111487e-03,-4.28263085e-02, 7.93201406e-02, 7.00626544e-01,
 -8.65178033e-02,-7.02866968e-01,-8.72647792e-02]

qacc:
[ 1.35437016e-01, 2.83759633e+00,-1.15955883e+01, 1.99359805e+01,
 -2.83003059e-01,-1.45508441e-01,-7.85702367e-01, 6.84361278e+00,
 -3.71638788e-01, 3.29849574e+00,-1.15509002e+01, 1.35666441e+01,
 -9.93887910e-02, 1.38103607e-01,-8.18329196e+00, 2.74630041e+01,
  6.57213678e-01,-3.49054487e+00, 1.29665984e-01, 5.27430344e+00,
  8.12854105e+01,-1.78897084e+02]

qfrc_actuator:
[ 2.39718845e-03, 2.73778926e-02, 8.64533488e-03, 1.60331968e-03,
 -4.42737959e-05, 2.74121358e-02, 8.62845958e-03, 1.75683112e-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: -0.0017849084526194714
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22005584e-14, -3.11002792e-14,  1.00000000e+00,  1.93445473e-27,
        1.00000000e+00,  3.11002792e-14, -1.00000000e+00,  0.00000000e+00,
        6.22005584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00676778, -0.02204013,  0.06182906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47692835e-05, 7.85420029e-06,-3.21074829e-05, 2.12979935e-05,
 -5.11801104e-05, 4.14893625e-05, 3.57937686e-05, 2.34310027e-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,
  1.83683491e-04, 2.52708709e-04,-4.90497454e+00, 3.59906156e-05,
  3.07925149e-02, 7.18792371e-03]


--- Step 2661 ---
qpos:
[-2.50828150e-03, 8.65853987e-01,-2.36991719e-02, 4.04846344e-04,
 -2.92670713e-03, 8.61871597e-01,-2.71362653e-02, 3.13740425e-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,
  7.21491165e-03,-4.28455462e-02, 7.93227498e-02, 7.00751089e-01,
 -8.61407388e-02,-7.02735777e-01,-8.76932820e-02]

qacc:
[-8.07559430e-02, 1.39653645e+00,-1.18354335e+01, 3.54533320e+01,
 -1.39332682e-01,-3.31366866e+00, 9.96084191e+00,-6.91049282e+00,
 -8.73039084e-02, 4.20534673e+00,-1.35849989e+01, 1.43192729e+01,
 -8.15803726e-02,-1.77886419e-01,-6.88127462e-01, 2.46262510e+00,
  2.45083154e+00, 1.01269277e+00, 3.80922442e+00,-2.81364330e+00,
  1.18543881e+02, 9.87128345e+01]

qfrc_actuator:
[ 2.37056390e-03, 2.73209844e-02, 8.64893310e-03, 1.67062090e-03,
 -4.53343433e-05, 2.73723005e-02, 8.68264278e-03, 1.76933163e-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: -0.0018032575161934794
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.23514541e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.23514541e-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([-0.00077978, -0.0470481 ,  0.06182737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48132866e-05,-5.82424852e-05, 2.00177169e-06, 6.69415729e-05,
 -2.53509097e-05,-8.26355446e-06, 6.79697751e-05, 1.59700109e-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,
  8.53058064e-05, 3.63831585e-04,-4.90499401e+00,-2.23409970e-05,
  3.07903605e-02, 7.18815350e-03]


--- Step 2662 ---
qpos:
[-2.50854301e-03, 8.65853054e-01,-2.36991857e-02, 4.06340436e-04,
 -2.92712872e-03, 8.61872018e-01,-2.71357142e-02, 3.13874724e-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,
  7.22783107e-03,-4.28609818e-02, 7.93368050e-02, 7.01046084e-01,
 -8.58766091e-02,-7.02433362e-01,-8.80168565e-02]

qacc:
[-2.73094294e-02,-5.12360761e-01,-3.74756696e+00, 1.87535947e+01,
  1.28765892e-01,-3.04831344e+00, 1.58381881e+01,-3.70459754e+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,
  2.28066172e+00, 9.50538254e-01, 2.86150942e+00,-2.86735280e+00,
  1.10411820e+02, 9.12942353e+01]

qfrc_actuator:
[ 2.37251800e-03, 2.72338907e-02, 8.65109042e-03, 1.70992866e-03,
 -1.00392420e-05, 2.73484182e-02, 8.67876143e-03, 1.70463467e-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: -0.0018040037474327392
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15421684e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.15421684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077967, -0.04704608,  0.06182731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11773400e-06,-1.16382805e-04,-7.30683050e-06, 3.81848191e-05,
  2.32591508e-05,-1.38036458e-05, 3.32871412e-06,-6.23924101e-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,
  4.38456894e-05,-2.26956099e-04,-4.90497431e+00,-8.75819452e-05,
  3.07908744e-02, 7.18782596e-03]


--- Step 2663 ---
qpos:
[-2.50900208e-03, 8.65851498e-01,-2.36987240e-02, 4.08232029e-04,
 -2.92739821e-03, 8.61872864e-01,-2.71356693e-02, 3.13859560e-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,
  7.22742273e-03,-4.28697561e-02, 7.93368464e-02, 7.01057420e-01,
 -8.57125727e-02,-7.02416110e-01,-8.82239103e-02]

qacc:
[-1.03036900e-01,-1.33352033e+00, 1.88165656e+00, 4.69407598e+00,
  7.95463800e-02,-1.10105777e+00, 1.10496238e+01,-3.64204381e+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,
 -3.33193955e+00, 1.66529719e+00,-3.50343982e+00, 6.20859883e+00,
 -2.08989843e+02, 5.12699119e+01]

qfrc_actuator:
[ 2.35607438e-03, 2.72358826e-02, 8.68769990e-03, 1.73240353e-03,
 -6.59280752e-06, 2.73872274e-02, 8.65836439e-03, 1.63050246e-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: -0.0018379168767079582
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51016490e-14, -7.55082451e-15,  1.00000000e+00,  1.14029902e-28,
        1.00000000e+00,  7.55082451e-15, -1.00000000e+00,  0.00000000e+00,
        1.51016490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04932691, -0.05884363,  0.06182443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88969368e-05,-6.29406957e-05, 1.29995220e-05, 1.79790491e-05,
  1.44865035e-05, 2.90915594e-05,-2.50073060e-05,-7.58266970e-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,
  4.49655953e-04,-5.65017105e-04,-4.90498082e+00,-1.25122802e-04,
  3.07915202e-02, 7.18660159e-03]


--- Step 2664 ---
qpos:
[-2.50965561e-03, 8.65850039e-01,-2.36978561e-02, 4.09943152e-04,
 -2.92776005e-03, 8.61873952e-01,-2.71361865e-02, 3.13827466e-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,
  7.21468938e-03,-4.28724053e-02, 7.93209361e-02, 7.00807262e-01,
 -8.56413339e-02,-7.02661868e-01,-8.83235117e-02]

qacc:
[-1.01740304e-01,-1.37658238e+00, 5.85849009e+00,-9.70499680e+00,
 -4.90914535e-02, 1.54021065e+00,-4.31443961e+00, 2.10755581e+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,
 -3.08125272e+00, 1.53130032e+00,-3.98793222e+00, 5.60530122e+00,
 -1.92729557e+02, 4.74498082e+01]

qfrc_actuator:
[ 2.34651038e-03, 2.72913326e-02, 8.72694826e-03, 1.72714068e-03,
 -2.22610413e-05, 2.73921670e-02, 8.62865928e-03, 1.62248582e-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: -0.0018459739201646744
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50357355e-14, -2.25536033e-14,  1.00000000e+00,  3.39110013e-28,
        1.00000000e+00,  2.25536033e-14, -1.00000000e+00,  0.00000000e+00,
        1.50357355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04931226, -0.05883966,  0.06182373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85804074e-05, 2.37388947e-05, 2.84792124e-05,-7.16002033e-06,
 -8.78658391e-06, 1.27753876e-05,-2.94096818e-05,-9.11331110e-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,
  2.32912488e-06, 6.46130211e-06,-4.90498245e+00,-1.07861278e-04,
  3.07942703e-02, 7.19079294e-03]


--- Step 2665 ---
qpos:
[-2.50990069e-03, 8.65848781e-01,-2.36971099e-02, 4.10909620e-04,
 -2.92844878e-03, 8.61874658e-01,-2.71362939e-02, 3.13856357e-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,
  7.19049178e-03,-4.28693838e-02, 7.92874013e-02, 7.00313933e-01,
 -8.56566710e-02,-7.03151711e-01,-8.83232714e-02]

qacc:
[ 2.13956775e-01,-9.26602246e-01, 6.83281945e+00,-1.96732757e+01,
 -1.71724768e-01,-3.93666993e-01,-1.90233979e+00, 1.20812444e+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,
 -2.86606060e+00, 1.41765349e+00,-4.40614412e+00, 5.10741750e+00,
 -1.79061183e+02, 4.42108227e+01]

qfrc_actuator:
[ 2.39440796e-03, 2.72896223e-02, 8.71440103e-03, 1.68790154e-03,
 -4.92144626e-05, 2.73590451e-02, 8.64688568e-03, 1.65341106e-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: -0.0018315285163005082
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.0308647e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.0308647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04933433, -0.0588515 ,  0.06182489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90424477e-05, 1.71634449e-05,-4.38078172e-06,-3.73772720e-05,
 -3.11222379e-05,-3.24650116e-05, 1.69219022e-05, 3.02769395e-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,
  4.24008366e-04, 9.03285677e-05,-4.90501048e+00,-9.92324203e-05,
  3.07969254e-02, 7.19339803e-03]


--- Step 2666 ---
qpos:
[-2.51020903e-03, 8.65847596e-01,-2.36965046e-02, 4.12107632e-04,
 -2.92945775e-03, 8.61875407e-01,-2.71360715e-02, 3.13951646e-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,
  7.17686524e-03,-4.28616274e-02, 7.92737838e-02, 7.00019293e-01,
 -8.58013824e-02,-7.03442233e-01,-8.82050891e-02]

qacc:
[-3.32667238e-02, 9.64849263e-01,-4.28009808e+00, 8.46050949e+00,
 -1.68427421e-01, 5.01884684e-01,-4.51059523e+00, 1.54436094e+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,
  2.64276133e+00, 1.18374675e+00, 4.97934120e+00,-4.12866619e+00,
  1.28883803e+02, 1.04094197e+02]

qfrc_actuator:
[ 2.36974157e-03, 2.72889782e-02, 8.70664733e-03, 1.69992352e-03,
 -6.49148960e-05, 2.73923766e-02, 8.67537119e-03, 1.68923737e-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: -0.0018588240267747788
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.95907581e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.95907581e-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([-0.0007411 , -0.04703235,  0.06182231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.04449143e-06, 6.47534296e-06,-6.04005591e-06, 1.18767878e-05,
 -3.04785651e-05, 1.99493115e-05, 2.49087876e-05, 3.56097394e-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,
  1.53267201e-03,-2.13626143e-04,-4.90505759e+00,-9.60044589e-05,
  3.07996101e-02, 7.19475362e-03]


--- Step 2667 ---
qpos:
[-2.51125790e-03, 8.65846342e-01,-2.36956963e-02, 4.14124914e-04,
 -2.93052496e-03, 8.61876441e-01,-2.71364261e-02, 3.14057719e-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,
  7.17298061e-03,-4.28495008e-02, 7.92755346e-02, 6.99907856e-01,
 -8.60655877e-02,-7.03549271e-01,-8.79780143e-02]

qacc:
[-3.88051661e-01, 1.02981795e+00,-7.25946449e+00, 2.11628928e+01,
 -3.11327959e-02, 2.20834130e+00,-7.78429486e+00, 1.03665859e+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,
  2.43548008e+00, 1.09253328e+00, 3.84207283e+00,-3.75673156e+00,
  1.18715976e+02, 9.60932526e+01]

qfrc_actuator:
[ 2.30184514e-03, 2.72890229e-02, 8.71959017e-03, 1.74202384e-03,
 -5.59867891e-05, 2.73942978e-02, 8.63891782e-03, 1.69220097e-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: -0.0018775262894439732
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95661113e-14, -2.95661113e-14,  1.00000000e+00,  8.74154937e-28,
        1.00000000e+00,  2.95661113e-14, -1.00000000e+00,  0.00000000e+00,
        2.95661113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072794, -0.04702871,  0.06182061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.07761364e-05, 2.94838221e-06, 1.39501493e-05, 4.23990449e-05,
 -5.53818709e-06, 1.97212908e-05,-2.80405287e-05, 5.37100994e-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,
  4.91563591e-04,-2.96424793e-04,-4.90503740e+00,-1.03717565e-04,
  3.08024341e-02, 7.19407603e-03]


--- Step 2668 ---
qpos:
[-2.51270553e-03, 8.65845020e-01,-2.36955019e-02, 4.15997568e-04,
 -2.93155865e-03, 8.61877685e-01,-2.71374786e-02, 3.14168413e-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,
  7.17815439e-03,-4.28333019e-02, 7.92888060e-02, 6.99966619e-01,
 -8.64410520e-02,-7.03485781e-01,-8.76494881e-02]

qacc:
[-2.09433200e-01, 1.32538448e+00,-4.24852158e+00, 2.77959222e+00,
  1.71371464e-02, 2.32076706e+00,-8.06871345e+00, 9.83334524e+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,
  2.26460193e+00, 1.01808376e+00, 2.88016273e+00,-3.42466834e+00,
  1.10288756e+02, 8.94665876e+01]

qfrc_actuator:
[ 2.29747641e-03, 2.72540865e-02, 8.67365280e-03, 1.73048030e-03,
 -5.01680973e-05, 2.73948660e-02, 8.59978111e-03, 1.69349014e-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: -0.0018745085858318591
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96137087e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.96137087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00073049, -0.04702949,  0.0618209 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81166025e-05,-2.85764057e-05,-4.21402269e-05,-1.01102934e-05,
  3.19248111e-06, 6.01060966e-06,-3.83396905e-05, 1.26541873e-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,
  4.51796530e-05,-1.36731662e-04,-4.90504786e+00,-8.12096131e-05,
  3.08059124e-02, 7.19214451e-03]


--- Step 2669 ---
qpos:
[-2.51436209e-03, 8.65843486e-01,-2.36963159e-02, 4.17074192e-04,
 -2.93272223e-03, 8.61879449e-01,-2.71392005e-02, 3.14310117e-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,
  7.19182511e-03,-4.28132727e-02, 7.93103470e-02, 7.00184643e-01,
 -8.69209119e-02,-7.03262336e-01,-8.72256133e-02]

qacc:
[-1.10135251e-01, 8.97958366e-01,-2.48431072e-01,-1.17579872e+01,
 -6.89966129e-02, 3.19292113e+00,-1.16981933e+01, 1.77568112e+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,
  2.12423549e+00, 9.57553665e-01, 2.06737058e+00,-3.12518046e+00,
  1.03304877e+02, 8.39838323e+01]

qfrc_actuator:
[ 2.29567348e-03, 2.72159425e-02, 8.61087571e-03, 1.68738662e-03,
 -6.40361464e-05, 2.74478411e-02, 8.57713892e-03, 1.71154577e-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: -0.0018540604608606737
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99403134e-14, -8.98209402e-14,  1.00000000e+00,  2.68926710e-27,
        1.00000000e+00,  8.98209402e-14, -1.00000000e+00,  0.00000000e+00,
        2.99403134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074554, -0.04703382,  0.06182277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99790614e-05,-6.32343739e-05,-7.42131676e-05,-4.59734624e-05,
 -1.23513882e-05, 4.84493581e-05,-2.60841682e-05, 1.70086993e-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,
  7.13987730e-05, 2.15331754e-04,-4.90508209e+00,-3.35411020e-05,
  3.08097958e-02, 7.18917255e-03]


--- Step 2670 ---
qpos:
[-2.51649285e-03, 8.65841709e-01,-2.36970359e-02, 4.16517900e-04,
 -2.93421560e-03, 8.61881234e-01,-2.71404704e-02, 3.14470916e-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,
  7.21353352e-03,-4.27896092e-02, 7.93374131e-02, 7.00552721e-01,
 -8.74994539e-02,-7.02887522e-01,-8.67113705e-02]

qacc:
[-2.48560587e-01,-3.94362959e+00, 2.04891543e+01,-4.87234541e+01,
 -1.73395154e-01,-8.41449679e-01, 2.23428122e+00, 3.31328929e-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,
  2.00942169e+00, 9.08595399e-01, 1.38129548e+00,-2.85186116e+00,
  9.75249049e+01, 7.94596534e+01]

qfrc_actuator:
[ 2.25987443e-03, 2.72293019e-02, 8.62739798e-03, 1.60831949e-03,
 -8.95662437e-05, 2.74431028e-02, 8.60014919e-03, 1.72162627e-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: -0.0018197809580562108
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05043038e-14, -3.05043038e-14,  1.00000000e+00,  9.30512552e-28,
        1.00000000e+00,  3.05043038e-14, -1.00000000e+00,  0.00000000e+00,
        3.05043038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077049, -0.04704099,  0.0618259 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.53284913e-05,-3.92546744e-05,-7.25378312e-06,-8.52369077e-05,
 -3.13871256e-05, 1.76628027e-05, 3.03888115e-05, 1.15821867e-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,
  4.81521044e-04, 7.23857360e-04,-4.90513657e+00, 3.55830406e-05,
  3.08138694e-02, 7.18531698e-03]


--- Step 2671 ---
qpos:
[-2.51906272e-03, 8.65840306e-01,-2.36978854e-02, 4.14607548e-04,
 -2.93545850e-03, 8.61882792e-01,-2.71410442e-02, 3.14678552e-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,
  7.23776111e-03,-4.27794878e-02, 7.93652487e-02, 7.01005761e-01,
 -8.77997301e-02,-7.02429231e-01,-8.64598490e-02]

qacc:
[-2.30497756e-01,-1.93050516e+00, 1.33175121e+01,-3.68209320e+01,
  1.32458734e-01,-1.27889214e+00, 2.14958529e+00, 5.00774115e+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,
  6.29795549e-01,-3.38552575e+00, 1.92393072e-01, 5.23602933e+00,
  8.26586303e+01,-1.82484089e+02]

qfrc_actuator:
[ 2.23953183e-03, 2.72914320e-02, 8.63754300e-03, 1.54432885e-03,
 -5.08311852e-05, 2.74217812e-02, 8.63194482e-03, 1.74466944e-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: -0.0017970045244094512
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08909357e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.08909357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00678551, -0.02205067,  0.06182805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19564282e-05, 3.50778145e-05,-1.78356237e-06,-6.75768673e-05,
  2.38374503e-05,-4.71181131e-06, 3.95824467e-05, 2.50743014e-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,
  1.21120922e-03, 1.36326857e-03,-4.90521007e+00, 1.23455408e-04,
  3.08179403e-02, 7.18069254e-03]


--- Step 2672 ---
qpos:
[-2.52121315e-03, 8.65839393e-01,-2.36990841e-02, 4.12980468e-04,
 -2.93614816e-03, 8.61884202e-01,-2.71417102e-02, 3.14847649e-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,
  7.24673492e-03,-4.27730588e-02, 7.93758492e-02, 7.01170667e-01,
 -8.79585439e-02,-7.02256368e-01,-8.63654022e-02]

qacc:
[ 2.19525772e-01, 2.20355120e+00,-8.11647162e+00, 1.32202348e+01,
  2.91340940e-01,-7.31721041e-01, 3.95087333e+00,-1.03643540e+01,
 -5.88158178e-02, 1.23279253e+00,-7.99161019e+00, 2.33831026e+01,
 -4.81140152e-02,-4.18577285e-01, 4.16847097e+00,-1.48569272e+01,
 -3.81344548e+00,-9.23109432e-01,-4.30881116e+00,-5.89393805e+00,
 -1.88229971e+02,-1.29725181e+02]

qfrc_actuator:
[ 2.29962821e-03, 2.73290463e-02, 8.62629480e-03, 1.56076893e-03,
 -9.49063890e-06, 2.73907482e-02, 8.61532870e-03, 1.72187851e-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: -0.001788531406186955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10372807e-14,  3.10372807e-14,  1.00000000e+00, -9.63312791e-28,
        1.00000000e+00, -3.10372807e-14, -1.00000000e+00,  0.00000000e+00,
        3.10372807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05532049, -0.03503676,  0.06182895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00988594e-05, 5.40090990e-05,-6.53921430e-06, 1.65728275e-05,
  5.26545617e-05,-2.44518147e-05,-1.18556705e-05,-2.11396974e-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,
  1.51691504e-03, 6.73573805e-04,-4.90510522e+00, 1.24531101e-04,
  3.08057331e-02, 7.17996251e-03]


--- Step 2673 ---
qpos:
[-2.52240831e-03, 8.65838391e-01,-2.36993288e-02, 4.11200922e-04,
 -2.93687470e-03, 8.61885407e-01,-2.71424875e-02, 3.14920019e-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,
  7.24165708e-03,-4.27700645e-02, 7.93674913e-02, 7.01070609e-01,
 -8.79881048e-02,-7.02346382e-01,-8.64155944e-02]

qacc:
[ 5.01463123e-01,-3.09437461e+00, 1.15081802e+01,-1.56098548e+01,
 -1.94787650e-02,-1.94910081e+00, 1.06412324e+01,-2.70549543e+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,
 -3.51291207e+00,-8.58665447e-01,-4.73956963e+00,-5.77390554e+00,
 -1.73254222e+02,-1.19095605e+02]

qfrc_actuator:
[ 2.37179982e-03, 2.73161817e-02, 8.67349278e-03, 1.55336122e-03,
 -3.80002911e-05, 2.73716538e-02, 8.60568077e-03, 1.67225354e-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([ 8.63636364, -7.5614435 ,  4.17269086, -7.5614435 , 24.90120489,
       29.47394917,  4.17269086, 29.47394917, 62.04688674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018073682259108215
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07138028e-14,  3.07138028e-14,  1.00000000e+00, -9.43337681e-28,
        1.00000000e+00, -3.07138028e-14, -1.00000000e+00,  0.00000000e+00,
        3.07138028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.055285  , -0.03504679,  0.06182737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.13018897e-05, 1.67384799e-05, 5.81404755e-05,-4.99249490e-06,
 -3.51741473e-06,-3.61459771e-05,-1.68994649e-05,-5.14987858e-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,
  2.21788570e-04, 1.20912895e-04,-4.90503369e+00, 8.54003163e-05,
  3.08025758e-02, 7.18163322e-03]


--- Step 2674 ---
qpos:
[-2.52288161e-03, 8.65837584e-01,-2.36993434e-02, 4.09360302e-04,
 -2.93760865e-03, 8.61886345e-01,-2.71434046e-02, 3.15002438e-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,
  7.22355573e-03,-4.27702831e-02, 7.93386835e-02, 7.00724760e-01,
 -8.78985474e-02,-7.02679957e-01,-8.65998457e-02]

qacc:
[ 3.78525034e-01,-5.11039513e-01, 2.45396869e+00,-4.02268725e+00,
 -3.88966032e-03, 2.45295509e-01,-1.80929733e+00, 3.96787818e+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,
 -3.25587807e+00,-8.03218031e-01,-5.11250708e+00,-5.61228139e+00,
 -1.60647513e+02,-1.10158988e+02]

qfrc_actuator:
[ 2.39725504e-03, 2.73266695e-02, 8.68358452e-03, 1.54971989e-03,
 -3.70407032e-05, 2.73598381e-02, 8.60026980e-03, 1.67827469e-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([ 8.63636364, -7.66642912,  3.9765112 , -7.66642912, 26.51098168,
       34.46098487,  3.9765112 , 34.46098487, 75.07467718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00180170351721895
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.08103696e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.08103696e-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([ 0.05529556, -0.03504742,  0.06182781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89956174e-05, 3.16835435e-05, 2.05510330e-05,-1.00584596e-06,
 -7.13595992e-07,-3.77481866e-05,-1.67451535e-05, 2.88366291e-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,
  6.93402694e-05,-1.53180978e-07,-4.90500215e+00, 7.67819780e-05,
  3.07977950e-02, 7.18598251e-03]


--- Step 2675 ---
qpos:
[-2.52341077e-03, 8.65837336e-01,-2.36996836e-02, 4.07827507e-04,
 -2.93815042e-03, 8.61886951e-01,-2.71441247e-02, 3.15158968e-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,
  7.20826010e-03,-4.27860519e-02, 7.93142350e-02, 7.00471255e-01,
 -8.75120719e-02,-7.02923734e-01,-8.70625165e-02]

qacc:
[-2.96653705e-02, 2.28182282e+00,-8.36335684e+00, 1.38021220e+01,
  1.01494664e-01, 5.35069665e-01,-5.67484477e+00, 1.84314024e+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,
  7.01428567e-01,-3.88755634e+00, 1.08985678e+00, 6.37916470e+00,
  8.89991187e+01,-1.93921808e+02]

qfrc_actuator:
[ 2.35902650e-03, 2.73686731e-02, 8.67175463e-03, 1.56606062e-03,
 -1.84142947e-05, 2.73525328e-02, 8.61522652e-03, 1.71700268e-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: -0.0018098134340183217
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06723059e-14,  3.06723059e-14,  1.00000000e+00, -9.40790348e-28,
        1.00000000e+00, -3.06723059e-14, -1.00000000e+00,  0.00000000e+00,
        3.06723059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00679747, -0.02205557,  0.06182691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32307391e-06, 6.39532477e-05,-2.78049311e-06, 1.83927248e-05,
  1.82831712e-05,-3.17644542e-05, 5.19596382e-06, 3.65862036e-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,
  8.17583643e-04, 2.17212668e-04,-4.90500111e+00, 9.08228498e-05,
  3.07916791e-02, 7.19264615e-03]


--- Step 2676 ---
qpos:
[-2.52420397e-03, 8.65837471e-01,-2.36995194e-02, 4.05776556e-04,
 -2.93885543e-03, 8.61886923e-01,-2.71444435e-02, 3.15259527e-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,
  7.19559416e-03,-4.28161443e-02, 7.92909244e-02, 7.00302478e-01,
 -8.68496455e-02,-7.03084243e-01,-8.77845458e-02]

qacc:
[-1.38278479e-01,-1.97043320e+00, 9.94632980e+00,-2.00033686e+01,
 -8.55216054e-02,-3.10760825e+00, 1.22307652e+01,-2.20974342e+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,
  6.57425007e-01,-3.58091871e+00, 2.84463598e-01, 5.57577136e+00,
  8.23028162e+01,-1.80491106e+02]

qfrc_actuator:
[ 2.33633454e-03, 2.73936384e-02, 8.70049344e-03, 1.54078821e-03,
 -4.26423088e-05, 2.72948492e-02, 8.62437039e-03, 1.68591080e-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: -0.0018100817828744509
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.13355173e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.13355173e-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([ 0.00679987, -0.02205403,  0.06182673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52216592e-05, 6.09517847e-05, 4.22485635e-05,-2.22676822e-05,
 -1.55536083e-05,-7.28141100e-05, 4.48850345e-06,-3.15630871e-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,
  5.68946915e-04, 7.37971634e-04,-4.90495991e+00, 7.04560079e-05,
  3.07846100e-02, 7.18966997e-03]


--- Step 2677 ---
qpos:
[-2.52470327e-03, 8.65838037e-01,-2.36998476e-02, 4.03502034e-04,
 -2.93978661e-03, 8.61886005e-01,-2.71439063e-02, 3.15287764e-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,
  7.19332778e-03,-4.28421077e-02, 7.92860386e-02, 7.00326695e-01,
 -8.63165069e-02,-7.03050574e-01,-8.83847877e-02]

qacc:
[ 1.53616322e-01, 1.48392857e+00,-3.52247077e+00, 1.26186564e-01,
 -1.18294572e-01,-5.05316622e+00, 1.93655736e+01,-3.26025436e+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,
  2.59988824e+00, 1.03225928e+00, 4.60618201e+00,-2.59897333e+00,
  1.24874109e+02, 1.04997249e+02]

qfrc_actuator:
[ 2.37645297e-03, 2.73905820e-02, 8.66411041e-03, 1.52675605e-03,
 -5.67991717e-05, 2.72428775e-02, 8.66524870e-03, 1.64943662e-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: -0.0018406693526283185
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03162661e-14,  3.01581330e-14,  1.00000000e+00, -1.81902598e-27,
        1.00000000e+00, -3.01581330e-14, -1.00000000e+00,  0.00000000e+00,
        6.03162661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075916, -0.04701747,  0.0618239 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80988943e-05, 3.87956256e-05,-1.93585094e-05,-1.03892610e-05,
 -2.15486917e-05,-9.31129654e-05, 2.53023409e-05,-4.00531857e-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,
  3.80662821e-04, 1.01861737e-03,-4.90499000e+00,-9.58559798e-07,
  3.07825755e-02, 7.18950616e-03]


--- Step 2678 ---
qpos:
[-2.52481035e-03, 8.65839119e-01,-2.37006625e-02, 4.01066386e-04,
 -2.94090929e-03, 8.61885023e-01,-2.71426594e-02, 3.15262335e-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,
  7.20066678e-03,-4.28642080e-02, 7.92952741e-02, 7.00529650e-01,
 -8.59021959e-02,-7.02837433e-01,-8.88738773e-02]

qacc:
[ 2.05137763e-01, 1.70966772e+00,-4.42614721e+00, 2.03817113e+00,
 -1.00416598e-01,-3.16799476e+00, 1.34425422e+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,
  2.40134625e+00, 9.65796956e-01, 3.53034424e+00,-2.75362582e+00,
  1.15626790e+02, 9.63368912e+01]

qfrc_actuator:
[ 2.40054741e-03, 2.74237686e-02, 8.64270740e-03, 1.51938069e-03,
 -6.47851177e-05, 2.73013598e-02, 8.72455245e-03, 1.62787310e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018539769829341302
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99416615e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.99416615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075033, -0.04701207,  0.0618227 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74975930e-05, 5.04343392e-05,-1.61335009e-05,-6.58296233e-06,
 -1.82262875e-05, 9.94017441e-06, 4.18076407e-05,-2.54557013e-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,
  1.09274929e-05, 1.12776287e-04,-4.90495316e+00,-1.00204512e-04,
  3.07841228e-02, 7.18918043e-03]


--- Step 2679 ---
qpos:
[-2.52476702e-03, 8.65840839e-01,-2.37010257e-02, 3.98824874e-04,
 -2.94198089e-03, 8.61884383e-01,-2.71411983e-02, 3.15209292e-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,
  7.21695933e-03,-4.28826696e-02, 7.93149931e-02, 7.00899360e-01,
 -8.55980219e-02,-7.02456851e-01,-8.92605070e-02]

qacc:
[ 7.89327605e-02,-1.89117462e-02, 4.71949969e-01, 1.69585379e+00,
  2.69058784e-02,-7.13623788e-01, 4.36721635e+00,-9.74159526e+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,
  2.23838662e+00, 9.09642590e-01, 2.62088278e+00,-2.84894918e+00,
  1.07954641e+02, 8.91942561e+01]

qfrc_actuator:
[ 2.39705894e-03, 2.74961955e-02, 8.68374147e-03, 1.53377905e-03,
 -5.12600744e-05, 2.73368798e-02, 8.74145748e-03, 1.61535870e-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: -0.00184685838864658
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01141393e-14, -4.50856045e-14,  1.00000000e+00,  2.71028231e-27,
        1.00000000e+00,  4.50856045e-14, -1.00000000e+00,  0.00000000e+00,
        6.01141393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075619, -0.04701142,  0.06182338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43969492e-05, 9.70039339e-05, 4.92360140e-05, 1.58750319e-05,
  4.87416218e-06, 4.86340027e-05, 2.32265437e-05,-1.11367833e-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,
  1.59537903e-04,-4.88621807e-04,-4.90494559e+00,-1.67640661e-04,
  3.07855541e-02, 7.18800551e-03]


--- Step 2680 ---
qpos:
[-2.52448928e-03, 8.65843310e-01,-2.37012949e-02, 3.97818337e-04,
 -2.94256579e-03, 8.61884285e-01,-2.71401781e-02, 3.15109095e-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,
  7.21967999e-03,-4.28942134e-02, 7.93213251e-02, 7.00978729e-01,
 -8.53937220e-02,-7.02368466e-01,-8.95280508e-02]

qacc:
[ 1.22754244e-01, 3.27013078e+00,-1.54349100e+01, 3.61081637e+01,
  2.55818251e-01, 9.74718413e-01,-4.48562263e-01,-7.40325918e+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,
 -3.39297233e+00, 1.72946654e+00,-3.34676279e+00, 7.44001265e+00,
 -2.13930029e+02, 5.13484980e+01]

qfrc_actuator:
[ 2.41261090e-03, 2.75385805e-02, 8.69048351e-03, 1.59645608e-03,
 -7.24180169e-06, 2.73582422e-02, 8.71538234e-03, 1.59047529e-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: -0.0018738318629890754
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96244035e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.96244035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04923868, -0.05885762,  0.06182115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24249360e-05, 1.07443710e-04, 3.33843609e-05, 6.88466080e-05,
  4.63379127e-05, 5.28823158e-05,-1.35604569e-05,-2.22134125e-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,
  7.22647727e-04,-8.48491252e-04,-4.90496181e+00,-2.08672564e-04,
  3.07869777e-02, 7.18600366e-03]


--- Step 2681 ---
qpos:
[-2.52400472e-03, 8.65846342e-01,-2.37021952e-02, 3.97645997e-04,
 -2.94264277e-03, 8.61884697e-01,-2.71400705e-02, 3.15018128e-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,
  7.20986958e-03,-4.28994210e-02, 7.93122397e-02, 7.00791189e-01,
 -8.52820751e-02,-7.02548996e-01,-8.96860391e-02]

qacc:
[ 1.07882332e-01, 4.21985153e+00,-1.74933189e+01, 3.25307832e+01,
  2.66749444e-01, 3.41100614e+00,-1.15756019e+01, 1.42617615e+01,
  2.93609649e-01, 5.03491405e+00,-2.13057840e+01, 3.91159304e+01,
  6.88545094e-02, 9.81258638e-02, 1.32483179e+00,-3.90265578e+00,
 -3.13276555e+00, 1.58406071e+00,-3.85434697e+00, 6.64175977e+00,
 -1.96812069e+02, 4.75064978e+01]

qfrc_actuator:
[ 2.42169035e-03, 2.75270677e-02, 8.64132215e-03, 1.63372393e-03,
  1.91111103e-05, 2.73707743e-02, 8.66408841e-03, 1.59398157e-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: -0.00188659197391923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.88480731e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.88480731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04921654, -0.05885155,  0.06182008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97793605e-05, 5.83590032e-05,-2.04912425e-05, 4.43638326e-05,
  4.83563730e-05, 3.83519452e-05,-4.28184346e-05, 4.86933641e-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,
  2.50426643e-05,-9.30167898e-05,-4.90496543e+00,-1.87740672e-04,
  3.07908139e-02, 7.19228545e-03]


--- Step 2682 ---
qpos:
[-2.52373908e-03, 8.65848563e-01,-2.37024259e-02, 3.97319679e-04,
 -2.94250183e-03, 8.61885277e-01,-2.71402539e-02, 3.15035806e-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,
  7.19031244e-03,-4.28953999e-02, 7.92938390e-02, 7.00390090e-01,
 -8.53320444e-02,-7.02946128e-01,-8.96599432e-02]

qacc:
[-1.14078608e-01,-3.25764754e+00, 1.07118305e+01,-1.38545233e+01,
  1.14582753e-01, 3.26764151e+00,-1.59189800e+01, 3.50687002e+01,
  1.07372414e-01,-3.17612885e+00, 1.37297217e+01,-2.43905426e+01,
  6.84421071e-02,-3.06986201e-01,-4.46347351e+00, 1.54353530e+01,
 -2.43668571e+00, 2.30716743e+00,-2.32884334e+00, 8.64126624e+00,
 -1.66010892e+02, 1.02461200e+02]

qfrc_actuator:
[ 2.39131483e-03, 2.74120947e-02, 8.64806938e-03, 1.62014780e-03,
  1.68962560e-05, 2.73778222e-02, 8.65156922e-03, 1.64965174e-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: -0.0018752419865305063
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.10769219e-07,  2.96021269e-14,  1.00000000e+00, -2.40004933e-20,
        1.00000000e+00, -2.96021269e-14, -1.00000000e+00,  3.00926554e-36,
        8.10769219e-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([ 0.03747238, -0.06145758,  0.06182102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09428766e-05,-8.47345444e-05, 1.77940634e-05,-1.09251660e-05,
  2.07449243e-05, 1.98555034e-05,-9.70906552e-06, 5.59257062e-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,
  2.56291628e-04, 1.42194765e-04,-4.90499447e+00,-1.76506636e-04,
  3.07942478e-02, 7.19636110e-03]


--- Step 2683 ---
qpos:
[-2.52376819e-03, 8.65849407e-01,-2.37010586e-02, 3.96498194e-04,
 -2.94227341e-03, 8.61886071e-01,-2.71403168e-02, 3.15081999e-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,
  7.16775373e-03,-4.28776998e-02, 7.92727697e-02, 6.99902235e-01,
 -8.56455034e-02,-7.03433142e-01,-8.93505688e-02]

qacc:
[-1.53068785e-01,-7.29987959e+00, 2.54814890e+01,-3.56016563e+01,
  4.60863724e-02, 5.33730548e-01,-2.69547968e+00, 7.28062199e+00,
 -2.60606712e-01,-4.91993775e+00, 2.07625291e+01,-3.83368531e+01,
  8.52664225e-02,-3.04446519e-01, 6.01213457e-01,-1.82932828e+00,
 -7.50390801e-01, 3.41973980e+00,-6.67139546e-01, 7.61979712e+00,
 -8.58667693e+01, 1.84088183e+02]

qfrc_actuator:
[ 2.37311462e-03, 2.73249567e-02, 8.72281877e-03, 1.59447240e-03,
  1.53802197e-05, 2.73994715e-02, 8.66205829e-03, 1.66457862e-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: -0.001870839283584183
  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([ 0.02129857, -0.06503088,  0.06182131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82014305e-05,-1.31366528e-04, 5.90481291e-05,-2.89042327e-05,
  8.33322996e-06, 3.31324039e-05, 1.53254855e-05, 1.65288276e-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,
  9.92702287e-04,-2.19484283e-04,-4.90504311e+00,-1.79722285e-04,
  3.07987864e-02, 7.19764156e-03]


--- Step 2684 ---
qpos:
[-2.52405044e-03, 8.65850242e-01,-2.37004237e-02, 3.95361022e-04,
 -2.94220110e-03, 8.61887256e-01,-2.71403323e-02, 3.15143919e-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,
  7.15531029e-03,-4.28554915e-02, 7.92688562e-02, 6.99603017e-01,
 -8.60812915e-02,-7.03730812e-01,-8.89301689e-02]

qacc:
[-1.33193072e-01, 1.38419551e+00,-3.62041846e+00,-6.63487711e-01,
 -8.23117066e-02, 7.07333619e-01,-2.43656490e+00, 4.79568569e+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,
  2.52881908e+00, 1.12706728e+00, 4.28895238e+00,-4.14075391e+00,
  1.22388018e+02, 9.84142512e+01]

qfrc_actuator:
[ 2.36238299e-03, 2.73619259e-02, 8.69515208e-03, 1.57969285e-03,
 -3.42588649e-06, 2.74297672e-02, 8.66830463e-03, 1.67317889e-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: -0.0018902727914727607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46833704e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.46833704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072767, -0.04699962,  0.06181951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41982081e-05,-2.55642508e-05,-4.85393213e-05,-1.89275541e-05,
 -1.48467224e-05, 5.26775525e-05, 1.55427754e-05, 1.08698282e-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,
  1.29783456e-03,-1.07603045e-03,-4.90508228e+00,-2.05239433e-04,
  3.08018954e-02, 7.19610556e-03]


--- Step 2685 ---
qpos:
[-2.52433232e-03, 8.65851275e-01,-2.37009237e-02, 3.95092381e-04,
 -2.94232076e-03, 8.61888914e-01,-2.71405527e-02, 3.15147277e-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,
  7.15222612e-03,-4.28290956e-02, 7.92779625e-02, 6.99478406e-01,
 -8.66308125e-02,-7.03853229e-01,-8.84064173e-02]

qacc:
[-5.41518372e-04, 5.21869613e+00,-2.18951145e+01, 3.86000313e+01,
 -1.01437039e-01,-7.92807560e-03, 3.40763034e+00,-1.35632102e+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,
  2.33981526e+00, 1.04688253e+00, 3.25496659e+00,-3.69540528e+00,
  1.13236467e+02, 9.14781961e+01]

qfrc_actuator:
[ 2.37396142e-03, 2.73837787e-02, 8.64323233e-03, 1.62472730e-03,
 -1.46448135e-05, 2.74472361e-02, 8.65427754e-03, 1.64249174e-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: -0.0018946730336014128
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92985387e-14,  2.92985387e-14,  1.00000000e+00, -8.58404371e-28,
        1.00000000e+00, -2.92985387e-14, -1.00000000e+00,  0.00000000e+00,
        2.92985387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072526, -0.04699916,  0.06181913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54755360e-08,-3.30347961e-06,-6.38440780e-05, 4.18908471e-05,
 -1.82604796e-05, 5.05694344e-05,-8.66604087e-07,-2.76835077e-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,
  3.96328624e-04,-7.49158398e-04,-4.90508613e+00,-1.64854252e-04,
  3.08058129e-02, 7.19484893e-03]


--- Step 2686 ---
qpos:
[-2.52453989e-03, 8.65851246e-01,-2.37007443e-02, 3.96092524e-04,
 -2.94260041e-03, 8.61890522e-01,-2.71409708e-02, 3.15086096e-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,
  7.15787909e-03,-4.27987714e-02, 7.92965929e-02, 6.99516606e-01,
 -8.72868984e-02,-7.03811907e-01,-8.77856193e-02]

qacc:
[ 3.98229511e-02,-6.89143529e-01,-4.93456031e+00, 2.65854850e+01,
 -8.43967448e-02,-8.42891248e-01, 5.63300321e+00,-1.64502270e+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,
  2.18428630e+00, 9.82069066e-01, 2.38102303e+00,-3.30233024e+00,
  1.05649372e+02, 8.57331238e+01]

qfrc_actuator:
[ 2.38102101e-03, 2.72898418e-02, 8.66621935e-03, 1.68683957e-03,
 -2.12131163e-05, 2.74035122e-02, 8.62831977e-03, 1.60666476e-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: -0.0018799817233485505
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95274952e-14,  2.95274952e-14,  1.00000000e+00, -8.71872970e-28,
        1.00000000e+00, -2.95274952e-14, -1.00000000e+00,  0.00000000e+00,
        2.95274952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00073649, -0.04700251,  0.0618205 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07454602e-06,-1.07195048e-04, 1.58853161e-05, 6.05761671e-05,
 -1.52298213e-05,-1.68517620e-05,-1.65900755e-05,-3.42315253e-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,
  2.71591419e-05,-2.34567242e-04,-4.90511603e+00,-9.83333741e-05,
  3.08101935e-02, 7.19233597e-03]


--- Step 2687 ---
qpos:
[-2.52485303e-03, 8.65850026e-01,-2.36998213e-02, 3.97496687e-04,
 -2.94318169e-03, 8.61892003e-01,-2.71416867e-02, 3.15053308e-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,
  7.17175926e-03,-4.27647275e-02, 7.93217958e-02, 6.99707685e-01,
 -8.80435801e-02,-7.03616222e-01,-8.70729295e-02]

qacc:
[-5.44370099e-02,-2.81797236e+00, 6.06011983e+00, 6.15189020e-01,
 -1.58987704e-01, 1.24825828e+00,-5.89288722e+00, 1.13778256e+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,
  2.05679870e+00, 9.29944050e-01, 1.64309567e+00,-2.95018139e+00,
  9.93627336e+01, 8.09875047e+01]

qfrc_actuator:
[ 2.36754258e-03, 2.72163762e-02, 8.69728479e-03, 1.70519298e-03,
 -4.26988853e-05, 2.73944179e-02, 8.61303089e-03, 1.62130580e-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: -0.0018500729126190996
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.00048451e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.00048451e-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([-0.00075854, -0.04700892,  0.06182324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01193824e-05,-1.27532322e-04, 1.29772697e-05, 1.54886127e-05,
 -2.87166684e-05,-2.34462147e-05,-2.20063940e-05, 1.26779399e-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,
  8.65307454e-05, 4.31331300e-04,-4.90516710e+00,-9.68416306e-06,
  3.08147678e-02, 7.18878770e-03]


--- Step 2688 ---
qpos:
[-2.52529943e-03, 8.65848732e-01,-2.36986726e-02, 3.98656267e-04,
 -2.94366424e-03, 8.61893324e-01,-2.71426019e-02, 3.15072582e-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,
  7.18838995e-03,-4.27450043e-02, 7.93500846e-02, 6.99987191e-01,
 -8.85068164e-02,-7.03333655e-01,-8.66385979e-02]

qacc:
[-6.97158937e-02,-1.23187696e+00, 5.28256884e+00,-9.82281508e+00,
  5.19619411e-02, 1.41621136e+00,-7.55485784e+00, 1.70032845e+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,
  6.87631036e-01,-3.58018814e+00, 7.71490872e-01, 4.84444123e+00,
  8.65350309e+01,-1.92946772e+02]

qfrc_actuator:
[ 2.35964411e-03, 2.72800155e-02, 8.73286129e-03, 1.69764831e-03,
 -1.96715833e-05, 2.73884449e-02, 8.60432262e-03, 1.64780384e-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: -0.0018268766853706403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03858228e-14, -6.07716456e-14,  1.00000000e+00,  1.84659645e-27,
        1.00000000e+00,  6.07716456e-14, -1.00000000e+00,  0.00000000e+00,
        3.03858228e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681841, -0.02206444,  0.06182543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27381179e-05,-4.31179727e-06, 1.13724752e-05,-1.22586183e-05,
  9.39277258e-06,-2.31181913e-05,-1.58283210e-05, 2.49785101e-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,
  4.98759480e-04, 1.22286623e-03,-4.90523713e+00, 9.81701016e-05,
  3.08193043e-02, 7.18436533e-03]


--- Step 2689 ---
qpos:
[-2.52604210e-03, 8.65847707e-01,-2.36973005e-02, 3.99324966e-04,
 -2.94358030e-03, 8.61894293e-01,-2.71432370e-02, 3.15088062e-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,
  7.20762040e-03,-4.27386331e-02, 7.93785259e-02, 7.00349304e-01,
 -8.86976512e-02,-7.02970672e-01,-8.64627894e-02]

qacc:
[-1.55305506e-01,-1.27723739e+00, 7.14435386e+00,-1.61966071e+01,
  2.98638111e-01,-1.32534920e+00, 4.21087986e+00,-5.05789324e+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,
  6.49938194e-01,-3.33798026e+00, 3.81269236e-02, 4.59690594e+00,
  8.04357305e+01,-1.79138856e+02]

qfrc_actuator:
[ 2.33741092e-03, 2.73187615e-02, 8.75361227e-03, 1.67505179e-03,
  2.97838350e-05, 2.73666759e-02, 8.61733599e-03, 1.64556057e-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: -0.0018239634224604118
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04343555e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04343555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681777, -0.02206001,  0.06182587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83060343e-05, 3.81779621e-05, 2.08371482e-05,-2.26275245e-05,
  5.39111244e-05,-3.69185710e-05, 7.14958217e-06,-3.29629462e-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,
  7.07187925e-04, 8.62976604e-04,-4.90510576e+00, 1.45871694e-04,
  3.08083637e-02, 7.18224846e-03]


--- Step 2690 ---
qpos:
[-2.52687487e-03, 8.65847019e-01,-2.36962928e-02, 3.99749534e-04,
 -2.94310628e-03, 8.61895427e-01,-2.71439498e-02, 3.15131050e-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,
  7.22932209e-03,-4.27448089e-02, 7.94046256e-02, 7.00788927e-01,
 -8.86335959e-02,-7.02532347e-01,-8.65289923e-02]

qacc:
[-4.76018270e-02, 9.59457663e-01,-1.74612703e+00,-2.14222123e+00,
  2.05345487e-01, 1.00098496e+00,-4.41421971e+00, 9.17939737e+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,
  6.17811375e-01,-3.13677621e+00,-5.85396649e-01, 4.37294112e+00,
  7.53787972e+01,-1.67644177e+02]

qfrc_actuator:
[ 2.34229847e-03, 2.73245044e-02, 8.72987474e-03, 1.66152093e-03,
  4.13309893e-05, 2.74066963e-02, 8.62522995e-03, 1.66192809e-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: -0.0018031893185017703
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15699646e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.15699646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681108, -0.02203776,  0.06182786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.60417395e-06, 3.04361602e-05,-1.40713982e-05,-1.16157286e-05,
  3.71340951e-05, 2.06999936e-05, 1.03256533e-06, 1.49677514e-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,
  9.37184603e-04, 3.34685160e-04,-4.90504598e+00, 1.43788372e-04,
  3.08020175e-02, 7.18237179e-03]


--- Step 2691 ---
qpos:
[-2.52734412e-03, 8.65845733e-01,-2.36951766e-02, 4.00442628e-04,
 -2.94237878e-03, 8.61896958e-01,-2.71452780e-02, 3.15228521e-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,
  7.25338489e-03,-4.27628622e-02, 7.94262619e-02, 7.01301577e-01,
 -8.83292163e-02,-7.02022601e-01,-8.68234692e-02]

qacc:
[ 1.90882566e-01,-5.40007310e-01,-3.54032472e-01, 5.26668780e+00,
  1.32989773e-01, 3.36261398e+00,-1.35304798e+01, 2.36563170e+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,
  5.90277796e-01,-2.96935910e+00,-1.11585487e+00, 4.16969271e+00,
  7.11917503e+01,-1.58079100e+02]

qfrc_actuator:
[ 2.38112343e-03, 2.72392604e-02, 8.71544782e-03, 1.67113170e-03,
  4.78356220e-05, 2.74301557e-02, 8.59479284e-03, 1.68916422e-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: -0.0017681880674617692
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27887409e-14, -3.13943705e-14,  1.00000000e+00,  1.97121299e-27,
        1.00000000e+00,  3.13943705e-14, -1.00000000e+00,  0.00000000e+00,
        6.27887409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00679962, -0.02200149,  0.06183107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47268919e-05,-7.16199790e-05,-1.02789908e-05, 1.02005516e-05,
  2.41344630e-05, 3.58711820e-05,-2.55212300e-05, 2.84481200e-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,
  1.18456331e-03,-3.29887269e-04,-4.90504595e+00, 9.83008359e-05,
  3.07994531e-02, 7.18444243e-03]


--- Step 2692 ---
qpos:
[-2.52758224e-03, 8.65843550e-01,-2.36940694e-02, 4.01984457e-04,
 -2.94130811e-03, 8.61898770e-01,-2.71465905e-02, 3.15216848e-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,
  7.26251140e-03,-4.27848141e-02, 7.94301169e-02, 7.01533309e-01,
 -8.78940342e-02,-7.01790166e-01,-8.72709488e-02]

qacc:
[ 1.21532569e-01, 5.86934533e-01,-7.39515821e+00, 2.27575901e+01,
  1.80582322e-01,-1.91865977e+00, 1.19872703e+01,-3.11100475e+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,
 -3.73407177e+00,-9.74637627e-01,-4.44532144e+00,-8.20778572e+00,
 -1.83409671e+02,-1.24006247e+02]

qfrc_actuator:
[ 2.38663536e-03, 2.71712344e-02, 8.70628007e-03, 1.71196507e-03,
  6.90479544e-05, 2.74433804e-02, 8.59518372e-03, 1.63377860e-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: -0.0017811087747139631
  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([ 0.05535301, -0.03507864,  0.06183004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20642540e-05,-1.09734608e-04,-2.48727420e-05, 3.76069385e-05,
  3.26732638e-05, 2.92062758e-05, 5.63593051e-06,-5.41807260e-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,
  1.44659252e-03,-1.10795654e-03,-4.90509758e+00, 1.41939172e-05,
  3.08000034e-02, 7.18822512e-03]


--- Step 2693 ---
qpos:
[-2.52749053e-03, 8.65841653e-01,-2.36935900e-02, 4.03893808e-04,
 -2.93994758e-03, 8.61901105e-01,-2.71474716e-02, 3.15132840e-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,
  7.25785700e-03,-4.28103568e-02, 7.94145348e-02, 7.01506001e-01,
 -8.73378195e-02,-7.01813442e-01,-8.78597016e-02]

qacc:
[ 1.72445720e-01, 2.88704105e+00,-1.12985782e+01, 1.84559709e+01,
  1.52700347e-01,-2.00170825e+00, 1.11946500e+01,-2.47905649e+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,
 -3.44522885e+00,-8.97726349e-01,-4.85928010e+00,-7.34375038e+00,
 -1.69100659e+02,-1.14564660e+02]

qfrc_actuator:
[ 2.40765172e-03, 2.72560986e-02, 8.70034187e-03, 1.73533912e-03,
  8.11411786e-05, 2.75036801e-02, 8.63143908e-03, 1.60124877e-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: -0.0017919506518290218
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.0978058e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.0978058e-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([ 0.05533208, -0.03508223,  0.0618291 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15274715e-05, 2.00205892e-05,-3.03586791e-05, 1.85435319e-05,
  2.76075306e-05, 7.54452978e-05, 4.11021075e-05,-3.21393353e-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,
  2.08470510e-04,-5.55487543e-04,-4.90504400e+00,-2.01265280e-05,
  3.07961141e-02, 7.18584794e-03]


--- Step 2694 ---
qpos:
[-2.52711213e-03, 8.65840122e-01,-2.36922253e-02, 4.05950352e-04,
 -2.93875372e-03, 8.61903726e-01,-2.71478059e-02, 3.14978115e-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,
  7.23999881e-03,-4.28295282e-02, 7.93846087e-02, 7.01198553e-01,
 -8.68864429e-02,-7.02117289e-01,-8.83326020e-02]

qacc:
[ 1.50739660e-01,-1.68518964e+00, 6.09088438e+00,-5.23066817e+00,
 -8.75712656e-02,-2.60294256e+00, 1.28169773e+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,
 -3.30094775e+00, 1.59284331e+00,-3.58598413e+00, 3.97300940e+00,
 -2.06378956e+02, 5.28651540e+01]

qfrc_actuator:
[ 2.42002695e-03, 2.73253570e-02, 8.76797446e-03, 1.74837930e-03,
  5.21737219e-05, 2.75031069e-02, 8.65328591e-03, 1.56474829e-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: -0.0018054836805735108
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92161635e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.92161635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04936147, -0.05893723,  0.06182781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74148274e-05, 7.50199192e-05, 6.86767907e-05, 1.32068162e-05,
 -1.58529810e-05, 4.86817192e-05, 4.13694268e-05,-3.24728839e-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,
  5.21508458e-05, 3.10664880e-04,-4.90502245e+00,-3.03370680e-05,
  3.07898893e-02, 7.18726226e-03]


--- Step 2695 ---
qpos:
[-2.52707990e-03, 8.65838821e-01,-2.36902230e-02, 4.07489926e-04,
 -2.93801184e-03, 8.61905987e-01,-2.71478088e-02, 3.14790786e-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,
  7.20994042e-03,-4.28428097e-02, 7.93384304e-02, 7.00632262e-01,
 -8.65313337e-02,-7.02680096e-01,-8.86986141e-02]

qacc:
[-1.81192326e-01,-2.54125477e+00, 1.16841796e+01,-2.18218994e+01,
 -2.37714742e-01,-2.07009884e+00, 8.06947156e+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,
 -3.05004972e+00, 1.47245773e+00,-4.06305671e+00, 3.96521700e+00,
 -1.90555700e+02, 4.85883117e+01]

qfrc_actuator:
[ 2.37387083e-03, 2.73140467e-02, 8.78972434e-03, 1.71978721e-03,
  1.66630738e-05, 2.74305324e-02, 8.64844698e-03, 1.54389121e-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: -0.0018100104606819309
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53344835e-14, -4.60034506e-14,  1.00000000e+00,  7.05439156e-28,
        1.00000000e+00,  4.60034506e-14, -1.00000000e+00,  0.00000000e+00,
        1.53344835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934956, -0.05893165,  0.06182722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30735400e-05, 4.54141540e-05, 4.61596249e-05,-2.27477722e-05,
 -4.30301554e-05,-3.82598098e-05, 9.17272261e-06,-1.79727761e-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,
  8.18934286e-04, 9.56966453e-04,-4.90504453e+00,-6.41735190e-06,
  3.07930101e-02, 7.19025503e-03]


--- Step 2696 ---
qpos:
[-2.52750038e-03, 8.65837834e-01,-2.36890136e-02, 4.08074183e-04,
 -2.93752209e-03, 8.61907772e-01,-2.71475191e-02, 3.14685442e-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,
  7.19103575e-03,-4.28512879e-02, 7.93150876e-02, 7.00275087e-01,
 -8.63130885e-02,-7.03032591e-01,-8.89383396e-02]

qacc:
[-2.38013479e-01, 6.63397254e-01, 2.26940133e+00,-1.77643695e+01,
 -1.32377009e-01, 2.40231683e-01,-5.23139585e+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,
  2.78843145e+00, 1.20083604e+00, 5.70884912e+00,-3.85578117e+00,
  1.35613203e+02, 1.10699503e+02]

qfrc_actuator:
[ 2.34637195e-03, 2.72898908e-02, 8.73058027e-03, 1.66682104e-03,
  1.30837536e-05, 2.74040517e-02, 8.66309865e-03, 1.58557979e-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: -0.0017940424617675851
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09419383e-14,  1.54709692e-14,  1.00000000e+00,  4.78701774e-28,
        1.00000000e+00, -1.54709692e-14, -1.00000000e+00,  0.00000000e+00,
       -3.09419383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079755, -0.04701472,  0.06182832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.32633174e-05, 9.80661962e-06,-4.48723979e-05,-4.98688677e-05,
 -2.40103294e-05,-4.68068564e-05, 7.24365247e-06, 4.00173046e-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,
  2.33706086e-03, 1.11306054e-03,-4.90509264e+00, 6.62592055e-06,
  3.07965487e-02, 7.19251549e-03]


--- Step 2697 ---
qpos:
[-2.52793331e-03, 8.65837232e-01,-2.36883450e-02, 4.08684473e-04,
 -2.93736151e-03, 8.61908851e-01,-2.71463930e-02, 3.14699081e-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,
  7.18236153e-03,-4.28553436e-02, 7.93096084e-02, 7.00110073e-01,
 -8.62203434e-02,-7.03192560e-01,-8.90626844e-02]

qacc:
[-6.99359549e-03, 2.07144942e+00,-6.75935468e+00, 7.79403784e+00,
 -1.72513631e-01,-8.17922557e-01,-3.45721797e+00, 2.32286324e+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,
  2.55761156e+00, 1.10561947e+00, 4.46593790e+00,-3.65264243e+00,
  1.24397940e+02, 1.01368482e+02]

qfrc_actuator:
[ 2.36581772e-03, 2.73288611e-02, 8.71283842e-03, 1.67088609e-03,
 -6.86110049e-06, 2.73699829e-02, 8.70710345e-03, 1.64602767e-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: -0.0018298087693796941
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03371326e-14, -3.03371326e-14,  1.00000000e+00,  9.20341613e-28,
        1.00000000e+00,  3.03371326e-14, -1.00000000e+00,  0.00000000e+00,
        3.03371326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077199, -0.04700666,  0.06182506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18031166e-06, 3.30588175e-05,-2.29725675e-05, 1.96083535e-06,
 -3.13490577e-05,-5.70781961e-05, 3.66010394e-05, 5.94712422e-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,
  9.24959515e-04, 4.46343668e-04,-4.90502646e+00,-6.66013701e-05,
  3.07971411e-02, 7.19351999e-03]


--- Step 2698 ---
qpos:
[-2.52806252e-03, 8.65837338e-01,-2.36884290e-02, 4.10001192e-04,
 -2.93766798e-03, 8.61909173e-01,-2.71449515e-02, 3.14858414e-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,
  7.18315560e-03,-4.28552915e-02, 7.93177866e-02, 7.00123002e-01,
 -8.62436497e-02,-7.03174561e-01,-8.90805945e-02]

qacc:
[ 1.58544614e-01, 4.49110702e+00,-1.76387074e+01, 3.05514590e+01,
 -2.45416195e-01, 1.11773251e+00,-1.15868248e+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,
  2.36707097e+00, 1.02697843e+00, 3.41431829e+00,-3.45633389e+00,
  1.15106261e+02, 9.36574555e+01]

qfrc_actuator:
[ 2.39541845e-03, 2.73877586e-02, 8.68449768e-03, 1.70857065e-03,
 -3.64473655e-05, 2.73140279e-02, 8.71480141e-03, 1.71703321e-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: -0.0018410267258489807
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.03045577e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.03045577e-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([-0.00076434, -0.04700382,  0.06182407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90429308e-05, 7.27316733e-05,-2.42765683e-05, 3.83428347e-05,
 -4.44761550e-05,-7.78039838e-05, 2.46063722e-06, 7.09817880e-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,
  1.96154563e-04, 9.82984601e-05,-4.90499905e+00,-1.03928019e-04,
  3.07984824e-02, 7.19325302e-03]


--- Step 2699 ---
qpos:
[-2.52804799e-03, 8.65837510e-01,-2.36894510e-02, 4.11855170e-04,
 -2.93837842e-03, 8.61908830e-01,-2.71439624e-02, 3.15140384e-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,
  7.19279083e-03,-4.28513903e-02, 7.93360663e-02, 7.00301934e-01,
 -8.63751417e-02,-7.02990499e-01,-8.89994077e-02]

qacc:
[ 7.47751732e-02, 3.81112031e+00,-1.57327840e+01, 2.64863502e+01,
 -2.12723120e-01, 2.90712761e+00,-1.68195980e+01, 3.92602331e+01,
 -4.25890110e-01, 3.52969172e+00,-1.25448147e+01, 1.57548611e+01,
 -4.08639421e-02, 2.46064232e-01, 4.57545750e+00,-1.57624638e+01,
  2.21029198e+00, 9.62242329e-01, 2.52539788e+00,-3.26846569e+00,
  1.07405070e+02, 8.72815315e+01]

qfrc_actuator:
[ 2.39529571e-03, 2.73338662e-02, 8.61472057e-03, 1.73023084e-03,
 -5.37963065e-05, 2.72630274e-02, 8.68314911e-03, 1.77587767e-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: -0.0018324245076018347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02938271e-14,  3.02938271e-14,  1.00000000e+00, -9.17715961e-28,
        1.00000000e+00, -3.02938271e-14, -1.00000000e+00,  0.00000000e+00,
        3.02938271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077101, -0.04700514,  0.06182488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37344259e-05,-1.65936390e-05,-5.64220370e-05, 2.46795122e-05,
 -3.84726414e-05,-9.09847879e-05,-4.49766394e-05, 5.69738898e-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,
  4.36686025e-06,-5.37871393e-08,-4.90500019e+00,-1.11852487e-04,
  3.08004100e-02, 7.19189750e-03]


--- Step 2700 ---
qpos:
[-2.52759498e-03, 8.65836961e-01,-2.36903785e-02, 4.13985871e-04,
 -2.93919803e-03, 8.61908115e-01,-2.71431813e-02, 3.15450716e-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,
  7.21075326e-03,-4.28438524e-02, 7.93614452e-02, 7.00636833e-01,
 -8.66082700e-02,-7.02650078e-01,-8.88251304e-02]

qacc:
[ 2.30218215e-01,-6.47025748e-01,-2.43537640e-01, 5.41105398e+00,
 -5.74854992e-02, 6.71955036e-01,-4.30827283e+00, 9.82445329e+00,
 -1.69431382e-01, 1.04653598e+00,-2.82076479e+00,-1.40006768e+00,
 -5.78188291e-02, 3.19704772e-01,-3.74645354e+00, 1.25213639e+01,
  2.08179939e+00, 9.09187399e-01, 1.77478249e+00,-3.08935272e+00,
  1.01027287e+02, 8.20136222e+01]

qfrc_actuator:
[ 2.43063528e-03, 2.72659173e-02, 8.60933113e-03, 1.74216301e-03,
 -4.59264905e-05, 2.72684686e-02, 8.68178610e-03, 1.79156801e-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: -0.0018079719526458773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07035467e-14,  3.07035467e-14,  1.00000000e+00, -9.42707778e-28,
        1.00000000e+00, -3.07035467e-14, -1.00000000e+00,  0.00000000e+00,
        3.07035467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078906, -0.04700976,  0.06182714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18871427e-05,-8.78207281e-05,-1.49100049e-05, 9.74724039e-06,
 -1.04048532e-05,-5.22922184e-05,-2.37322263e-05, 1.13403085e-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,
  2.43505520e-04, 1.01364540e-04,-4.90502405e+00,-9.51465128e-05,
  3.08027686e-02, 7.18959457e-03]


--- Step 2701 ---
qpos:
[-2.52634432e-03, 8.65836246e-01,-2.36913053e-02, 4.16178004e-04,
 -2.93982941e-03, 8.61907464e-01,-2.71419698e-02, 3.15525516e-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,
  7.21640831e-03,-4.28300253e-02, 7.93707338e-02, 7.00710859e-01,
 -8.69315553e-02,-7.02571897e-01,-8.85433595e-02]

qacc:
[ 4.18256848e-01,-9.48319343e-02,-2.39879968e-01, 1.42450088e+00,
  9.92537754e-02,-5.96125768e+00, 3.13246597e+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,
 -3.07684561e+00, 1.57229216e+00,-4.02255868e+00, 6.53140393e+00,
 -1.92177215e+02, 4.63893428e+01]

qfrc_actuator:
[ 2.48689998e-03, 2.72968108e-02, 8.62416433e-03, 1.74830400e-03,
 -2.30586101e-05, 2.73077483e-02, 8.71628593e-03, 1.67530229e-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: -0.0017728394566993086
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13120012e-14, -3.13120012e-14,  1.00000000e+00,  9.80441420e-28,
        1.00000000e+00,  3.13120012e-14, -1.00000000e+00,  0.00000000e+00,
        3.13120012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0494061 , -0.0589708 ,  0.06183037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.62290457e-05,-2.08548410e-05,-4.79664422e-06, 2.05103053e-06,
  1.79223051e-05, 5.62860863e-06, 2.11634790e-05,-1.19111169e-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,
  8.36596452e-04, 3.66395410e-04,-4.90506772e+00,-5.73208752e-05,
  3.08054088e-02, 7.18645158e-03]


--- Step 2702 ---
qpos:
[-2.52474191e-03, 8.65835724e-01,-2.36922549e-02, 4.18380691e-04,
 -2.94022591e-03, 8.61907430e-01,-2.71414572e-02, 3.15391991e-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,
  7.21058706e-03,-4.28103780e-02, 7.93623124e-02, 7.00542234e-01,
 -8.73397751e-02,-7.02737427e-01,-8.81615059e-02]

qacc:
[ 1.84334946e-01, 3.40092099e-01,-8.87789560e-01, 9.65774478e-01,
  1.22912829e-01,-1.52047697e+00, 1.53985610e+01,-5.07902646e+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,
 -2.86907524e+00, 1.45504089e+00,-4.42750724e+00, 5.64288942e+00,
 -1.78736039e+02, 4.35650912e+01]

qfrc_actuator:
[ 2.48417469e-03, 2.73334851e-02, 8.63343460e-03, 1.75107488e-03,
 -9.19828019e-06, 2.73492908e-02, 8.68298516e-03, 1.57115159e-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([ 8.63636364, -5.40791058,  6.7335934 , -5.40791058, 53.05428341,
       35.67309814,  6.7335934 , 35.67309814, 37.2862855 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017636164802188256
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14757499e-14,  7.86893747e-15,  1.00000000e+00, -2.47680708e-28,
        1.00000000e+00, -7.86893747e-15, -1.00000000e+00,  0.00000000e+00,
        3.14757499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04942212, -0.0589815 ,  0.06183123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36231700e-05, 2.41375811e-05, 4.45083952e-06, 1.74930925e-06,
  2.23703501e-05, 4.39652072e-05,-3.36592502e-05,-1.05497884e-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,
  8.26294683e-05, 2.00693215e-04,-4.90506277e+00,-5.72713679e-05,
  3.08052139e-02, 7.18934545e-03]


--- Step 2703 ---
qpos:
[-2.52318339e-03, 8.65834718e-01,-2.36922263e-02, 4.20271266e-04,
 -2.94042331e-03, 8.61907869e-01,-2.71417419e-02, 3.15275338e-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,
  7.21402196e-03,-4.27865329e-02, 7.93659694e-02, 7.00546507e-01,
 -8.78608542e-02,-7.02728824e-01,-8.76770276e-02]

qacc:
[-2.22376503e-02,-4.01327205e+00, 1.47007266e+01,-2.13148573e+01,
  1.04189898e-01, 3.19840073e+00,-1.12097315e+01, 1.50605069e+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,
  2.31403846e+00, 1.04948618e+00, 3.01958344e+00,-3.59771167e+00,
  1.12288138e+02, 9.08275586e+01]

qfrc_actuator:
[ 2.46393487e-03, 2.72845723e-02, 8.67489560e-03, 1.73409736e-03,
 -8.64404919e-07, 2.73738598e-02, 8.64546629e-03, 1.58145574e-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: -0.0017611424904687978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15199659e-14,  6.30399318e-14,  1.00000000e+00, -1.98701650e-27,
        1.00000000e+00, -6.30399318e-14, -1.00000000e+00,  0.00000000e+00,
        3.15199659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00082338, -0.04701952,  0.0618314 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20264719e-06,-3.44039530e-05, 4.70617578e-05,-1.57572443e-05,
  1.89606449e-05, 3.76840318e-05,-3.62396703e-05, 8.96993418e-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,
  9.65576297e-05,-3.31752691e-04,-4.90507969e+00,-5.95828872e-05,
  3.08052727e-02, 7.19057919e-03]


--- Step 2704 ---
qpos:
[-2.52177913e-03, 8.65833546e-01,-2.36919965e-02, 4.21266449e-04,
 -2.94047396e-03, 8.61908153e-01,-2.71417120e-02, 3.15206821e-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,
  7.22546196e-03,-4.27595817e-02, 7.93801650e-02, 7.00702093e-01,
 -8.84674401e-02,-7.02567540e-01,-8.71145217e-02]

qacc:
[-8.07433587e-02,-2.62284275e+00, 1.28152226e+01,-2.85134231e+01,
  7.75671465e-02,-9.45458065e-02,-1.99452101e+00, 9.93695056e+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,
  2.00127546e+00, 7.76485382e-01, 2.63466871e+00,-2.58071198e+00,
  9.94700718e+01, 7.07157873e+01]

qfrc_actuator:
[ 2.45119390e-03, 2.72736704e-02, 8.68142114e-03, 1.68783663e-03,
  4.09542189e-06, 2.73526354e-02, 8.65905252e-03, 1.60575625e-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([ 8.63636364,  7.59372281, -4.11365418,  7.59372281, 24.74992462,
       29.74530922, -4.11365418, 29.74530922, 63.54560572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017502305620873057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58582396e-14,  2.37873594e-14,  1.00000000e+00, -3.77225645e-28,
        1.00000000e+00, -2.37873594e-14, -1.00000000e+00,  0.00000000e+00,
        1.58582396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00074609, -0.04582987,  0.06183238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47477295e-05,-2.10781942e-05, 4.67654437e-06,-4.64139300e-05,
  1.39655364e-05,-7.25666824e-06, 1.72145897e-05, 2.48363501e-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,
  3.07712342e-05, 1.89080928e-04,-4.90512077e+00, 8.32728129e-06,
  3.08096258e-02, 7.18743948e-03]


--- Step 2705 ---
qpos:
[-2.52034761e-03, 8.65832529e-01,-2.36924065e-02, 4.22062530e-04,
 -2.94042438e-03, 8.61908188e-01,-2.71411778e-02, 3.15202353e-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,
  7.23965015e-03,-4.27469788e-02, 7.93973621e-02, 7.00946877e-01,
 -8.87808264e-02,-7.02319022e-01,-8.68299016e-02]

qacc:
[ 1.38276529e-02, 1.58088259e+00,-4.50116938e+00, 1.96711168e+00,
  5.32307785e-02,-4.17307240e-01,-1.69105984e+00, 1.21514106e+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,
  6.87045406e-01,-3.58705483e+00, 7.50379651e-01, 5.25186374e+00,
  8.69592822e+01,-1.92609972e+02]

qfrc_actuator:
[ 2.46083280e-03, 2.72854498e-02, 8.64961855e-03, 1.67797199e-03,
  7.00352876e-06, 2.73398812e-02, 8.68475612e-03, 1.63807444e-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: -0.0017695169504511055
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13707937e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.13707937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681458, -0.02200126,  0.06183077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60679320e-06,-1.00977112e-06,-3.71810448e-05,-1.15092458e-05,
  9.53613594e-06,-1.21970199e-05, 2.71839542e-05, 3.30869662e-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,
  3.30418861e-04, 7.88558943e-04,-4.90517126e+00, 9.32151265e-05,
  3.08130685e-02, 7.18354794e-03]


--- Step 2706 ---
qpos:
[-2.51884857e-03, 8.65831003e-01,-2.36923666e-02, 4.22398641e-04,
 -2.93993679e-03, 8.61908274e-01,-2.71403679e-02, 3.15130772e-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,
  7.23936689e-03,-4.27379294e-02, 7.93961563e-02, 7.00918602e-01,
 -8.89625847e-02,-7.02341053e-01,-8.66938148e-02]

qacc:
[ 3.58341175e-02,-2.87399683e+00, 1.12156948e+01,-1.95244695e+01,
  2.30791873e-01,-2.08352984e+00, 1.03603974e+01,-2.24563950e+01,
  4.82689099e-01,-1.38961554e+00, 4.80165390e+00,-7.89376067e+00,
 -3.67307951e-02,-5.43490206e-02, 5.63181645e+00,-1.99286387e+01,
 -3.61785860e+00,-8.88377245e-01,-4.60073092e+00,-6.40208338e+00,
 -1.78399912e+02,-1.22144107e+02]

qfrc_actuator:
[ 2.46602718e-03, 2.72395737e-02, 8.66659019e-03, 1.65410159e-03,
  4.41736849e-05, 2.73501161e-02, 8.69966213e-03, 1.60384103e-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: -0.0017727216033705043
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.13140829e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.13140829e-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([ 0.05537135, -0.03510482,  0.06183059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44021595e-06,-5.45893271e-05, 1.17929654e-05,-2.54238000e-05,
  4.16946632e-05, 1.04423267e-05, 1.68770121e-05,-3.31719054e-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,
  5.04946012e-04, 4.73263149e-04,-4.90506288e+00, 1.22627204e-04,
  3.08031556e-02, 7.18193089e-03]


--- Step 2707 ---
qpos:
[-2.51747733e-03, 8.65829749e-01,-2.36926667e-02, 4.21364469e-04,
 -2.93919814e-03, 8.61907988e-01,-2.71397170e-02, 3.14992747e-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,
  7.24179710e-03,-4.27431857e-02, 7.93970386e-02, 7.00977907e-01,
 -8.88601643e-02,-7.02278446e-01,-8.68264342e-02]

qacc:
[-6.73856452e-02,-1.51317937e+00, 1.16987682e+01,-3.50694004e+01,
  1.32214740e-01,-1.41426087e+00, 7.13462597e+00,-1.81072107e+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,
  6.78363425e-01,-3.57643252e+00, 5.22031141e-01, 5.45831692e+00,
  8.46890220e+01,-1.86404562e+02]

qfrc_actuator:
[ 2.45075105e-03, 2.72839737e-02, 8.65873467e-03, 1.58666300e-03,
  4.82653066e-05, 2.72851817e-02, 8.67261104e-03, 1.56623736e-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: -0.0017800813632192075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55923073e-14,  3.11846146e-14,  1.00000000e+00, -4.86240093e-28,
        1.00000000e+00, -3.11846146e-14, -1.00000000e+00,  0.00000000e+00,
        1.55923073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682013, -0.02201027,  0.06182994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22085035e-05, 1.52542407e-05,-1.85469281e-05,-6.98623262e-05,
  2.38858778e-05,-5.70330239e-05,-2.39697563e-05,-3.72187897e-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,
  4.64809476e-06,-8.81350892e-06,-4.90503026e+00, 1.04768964e-04,
  3.08023790e-02, 7.18347681e-03]


--- Step 2708 ---
qpos:
[-2.51663947e-03, 8.65829340e-01,-2.36942418e-02, 4.19520591e-04,
 -2.93887856e-03, 8.61906805e-01,-2.71392011e-02, 3.14955648e-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,
  7.23087462e-03,-4.27518071e-02, 7.93778955e-02, 7.00785529e-01,
 -8.86384333e-02,-7.02465059e-01,-8.70959912e-02]

qacc:
[-2.80781250e-01, 3.01065376e+00,-5.69768103e+00,-6.89420147e+00,
 -2.20411813e-01, 1.26825668e+00,-1.05034525e+01, 2.88473707e+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,
 -3.33816994e+00,-8.41259556e-01,-5.00637517e+00,-6.63002161e+00,
 -1.64461612e+02,-1.11889078e+02]

qfrc_actuator:
[ 2.40560829e-03, 2.73464581e-02, 8.60108742e-03, 1.54743569e-03,
 -2.98371654e-06, 2.72110534e-02, 8.65621540e-03, 1.61563644e-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: -0.0017798819618953382
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11881082e-14,  6.23762164e-14,  1.00000000e+00, -1.94539619e-27,
        1.00000000e+00, -6.23762164e-14, -1.00000000e+00,  0.00000000e+00,
        3.11881082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05535785, -0.03511075,  0.06182995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09581769e-05, 6.42204560e-05,-5.91867675e-05,-4.05717830e-05,
 -3.99163936e-05,-1.12557804e-04,-3.24170499e-05, 4.54029790e-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,
  1.53168567e-05,-3.89000014e-05,-4.90499220e+00, 9.30954530e-05,
  3.07972722e-02, 7.18278215e-03]


--- Step 2709 ---
qpos:
[-2.51633933e-03, 8.65828791e-01,-2.36945696e-02, 4.18207810e-04,
 -2.93889326e-03, 8.61905023e-01,-2.71386905e-02, 3.14938760e-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,
  7.22263933e-03,-4.27747238e-02, 7.93602513e-02, 7.00678927e-01,
 -8.81374339e-02,-7.02568136e-01,-8.76290361e-02]

qacc:
[-2.81057629e-01,-2.57427067e+00, 6.67091374e+00, 6.24804037e-01,
 -1.75825752e-01,-3.58943394e-01,-7.20240635e-01, 4.66632249e+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,
  6.71795967e-01,-3.57383565e+00, 3.74741455e-01, 5.47184304e+00,
  8.32375963e+01,-1.82974729e+02]

qfrc_actuator:
[ 2.37850752e-03, 2.73480998e-02, 8.67440997e-03, 1.57838057e-03,
 -1.58568859e-05, 2.72030933e-02, 8.66400525e-03, 1.62706611e-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: -0.0017767664499304392
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12427957e-14,  6.24855914e-14,  1.00000000e+00, -1.95222457e-27,
        1.00000000e+00, -6.24855914e-14, -1.00000000e+00,  0.00000000e+00,
        3.12427957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682186, -0.02200511,  0.0618301 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13882341e-05, 2.36074585e-05, 7.79084300e-05, 3.08641058e-05,
 -3.18358378e-05,-7.56297978e-05,-1.78724602e-05, 6.37186965e-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,
  3.04132867e-04, 3.05207782e-04,-4.90498886e+00, 9.48292319e-05,
  3.07933576e-02, 7.18601532e-03]


--- Step 2710 ---
qpos:
[-2.51609202e-03, 8.65827801e-01,-2.36932426e-02, 4.17285469e-04,
 -2.93895927e-03, 8.61903244e-01,-2.71386662e-02, 3.14931223e-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,
  7.21693062e-03,-4.28109411e-02, 7.93413382e-02, 7.00651588e-01,
 -8.73752502e-02,-7.02592907e-01,-8.84088523e-02]

qacc:
[-2.64857633e-02,-4.39996975e+00, 1.31967908e+01,-8.76687876e+00,
 -2.73268035e-02, 1.55258930e+00,-5.92691880e+00, 8.32291761e+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,
  6.31645799e-01,-3.32514693e+00,-3.17221613e-01, 4.87833392e+00,
  7.75955211e+01,-1.71280025e+02]

qfrc_actuator:
[ 2.39795489e-03, 2.73138831e-02, 8.75329151e-03, 1.59715395e-03,
 -5.62170750e-06, 2.72348942e-02, 8.65072559e-03, 1.63387019e-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: -0.0017628054537336402
  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([ 0.00681875, -0.02199061,  0.06183121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05354385e-06,-3.59250070e-06, 9.44332077e-05, 2.30859124e-05,
 -4.88668502e-06,-1.38727126e-05,-3.08699203e-05, 3.07236098e-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,
  1.71443064e-04, 5.10806524e-04,-4.90501578e+00, 4.25714930e-05,
  3.07927089e-02, 7.18623166e-03]


--- Step 2711 ---
qpos:
[-2.51574847e-03, 8.65826632e-01,-2.36922974e-02, 4.16013530e-04,
 -2.93917116e-03, 8.61901871e-01,-2.71390762e-02, 3.14960760e-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,
  7.22122912e-03,-4.28429116e-02, 7.93391432e-02, 7.00812750e-01,
 -8.67376600e-02,-7.02427239e-01,-8.90732362e-02]

qacc:
[ 5.02624631e-02, 1.10802443e-01, 7.38044921e-01,-6.04598299e+00,
 -7.72215775e-02, 2.51088208e+00,-9.74110106e+00, 1.65567795e+01,
 -7.69723063e-02,-1.78208204e+00, 1.66695120e+00, 1.22084189e+01,
  6.66398654e-02,-6.51143395e-01,-4.83984510e+00, 1.66392781e+01,
  2.50180168e+00, 1.06169424e+00, 4.17953104e+00,-3.28034984e+00,
  1.22385285e+02, 1.00860632e+02]

qfrc_actuator:
[ 2.40955610e-03, 2.72585088e-02, 8.71033357e-03, 1.57304739e-03,
 -1.71760402e-05, 2.72901900e-02, 8.64303974e-03, 1.65567931e-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: -0.0017806939463910557
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.11738866e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.11738866e-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([-0.00080929, -0.04700662,  0.0618295 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.19073549e-06,-3.68773282e-05,-3.12679177e-05,-2.05417833e-05,
 -1.38754282e-05, 4.13366756e-05,-1.42339910e-05, 2.02090510e-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,
  8.25307628e-05, 5.23189733e-04,-4.90510060e+00,-5.52032811e-05,
  3.07958240e-02, 7.18869764e-03]


--- Step 2712 ---
qpos:
[-2.51565962e-03, 8.65824929e-01,-2.36916974e-02, 4.14853655e-04,
 -2.93952339e-03, 8.61901110e-01,-2.71397368e-02, 3.15012149e-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,
  7.21170518e-03,-4.28681349e-02, 7.93237104e-02, 7.00681388e-01,
 -8.62072703e-02,-7.02554383e-01,-8.96171681e-02]

qacc:
[-1.33557283e-01, 4.89246334e-01,-3.24161877e+00, 6.12614448e+00,
 -7.42746809e-02, 1.95641995e+00,-6.72685998e+00, 1.04621246e+01,
  3.15242019e-01,-6.00244248e-01, 5.50013568e-01, 6.40125399e+00,
  8.19467695e-02, 1.78941852e-01, 2.48385322e+00,-8.29265936e+00,
 -3.45560895e+00, 1.68681178e+00,-3.30946330e+00, 5.09505066e+00,
 -2.15339907e+02, 5.41305487e+01]

qfrc_actuator:
[ 2.38081639e-03, 2.72081062e-02, 8.68440977e-03, 1.57705462e-03,
 -2.39363611e-05, 2.73414258e-02, 8.63885283e-03, 1.66842419e-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: -0.001823870392990097
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.28269309e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.28269309e-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([ 0.04930724, -0.05894745,  0.06182569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43590678e-05,-7.83388352e-05,-3.81000301e-05, 9.47544372e-07,
 -1.33420813e-05, 7.23102797e-05, 3.30972056e-06, 1.44188437e-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,
  4.85348741e-05,-4.06167940e-04,-4.90505246e+00,-1.58545960e-04,
  3.07929722e-02, 7.19034796e-03]


--- Step 2713 ---
qpos:
[-2.51605724e-03, 8.65823120e-01,-2.36916330e-02, 4.14054443e-04,
 -2.93960949e-03, 8.61900967e-01,-2.71404260e-02, 3.14973127e-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,
  7.18945777e-03,-4.28871570e-02, 7.92929763e-02, 7.00281011e-01,
 -8.57751440e-02,-7.02950961e-01,-9.00504138e-02]

qacc:
[-2.55339368e-01, 2.09782728e+00,-9.20674599e+00, 1.63850153e+01,
  1.39867346e-01,-9.63900896e-01, 8.43897695e+00,-2.44960123e+01,
  3.61990735e-01,-1.39835184e-01, 6.33055884e+00,-2.45567685e+01,
  5.24837468e-02, 5.93147614e-01, 1.50197131e+00,-5.17510811e+00,
 -3.18086839e+00, 1.55029357e+00,-3.82531054e+00, 4.93326244e+00,
 -1.98066384e+02, 4.96277872e+01]

qfrc_actuator:
[ 2.34593721e-03, 2.72321241e-02, 8.66882258e-03, 1.59760830e-03,
  7.73780848e-06, 2.73721050e-02, 8.63675530e-03, 1.62247656e-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: -0.0018399659200922652
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52544941e-14,  2.26272470e-14,  1.00000000e+00, -1.02398462e-27,
        1.00000000e+00, -2.26272470e-14, -1.00000000e+00,  0.00000000e+00,
        4.52544941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0492777 , -0.05893471,  0.06182419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65002862e-05,-2.75817209e-05,-3.64171702e-05, 1.59014394e-05,
  2.53492902e-05, 7.24356123e-05, 1.37539005e-05,-4.24532022e-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,
  2.31755982e-04, 6.15962181e-04,-4.90504889e+00,-1.26164242e-04,
  3.07959826e-02, 7.19283598e-03]


--- Step 2714 ---
qpos:
[-2.51652960e-03, 8.65821302e-01,-2.36918865e-02, 4.13824457e-04,
 -2.93955730e-03, 8.61901013e-01,-2.71409364e-02, 3.14848947e-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,
  7.16621781e-03,-4.28903787e-02, 7.92689760e-02, 6.99829144e-01,
 -8.56553505e-02,-7.03401841e-01,-9.01564158e-02]

qacc:
[-3.93451977e-02, 2.04735301e+00,-9.72034530e+00, 2.00880445e+01,
  7.28266611e-02,-2.00020410e+00, 1.10918289e+01,-2.62579837e+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,
 -2.48137843e-01, 3.95009979e+00, 1.68343253e+00, 5.89449848e+00,
 -6.52087320e+01, 2.19711366e+02]

qfrc_actuator:
[ 2.36096590e-03, 2.72473223e-02, 8.65976595e-03, 1.62779642e-03,
  8.86444011e-06, 2.73546937e-02, 8.63578963e-03, 1.57785390e-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: -0.0018677000573521254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22907698e-06, -2.97216628e-14,  1.00000000e+00, -3.65302114e-20,
        1.00000000e+00,  2.97216628e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22907698e-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([ 0.01669772, -0.06328279,  0.06182158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.14365860e-06,-7.02639942e-06,-1.86736574e-05, 2.80603231e-05,
  1.31694268e-05, 2.41275234e-05, 1.42262366e-05,-4.18684961e-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,
  1.27884856e-03, 1.08149105e-03,-4.90507471e+00,-1.07045460e-04,
  3.07991820e-02, 7.19429754e-03]


--- Step 2715 ---
qpos:
[-2.51694063e-03, 8.65818915e-01,-2.36914618e-02, 4.13960676e-04,
 -2.94017933e-03, 8.61900723e-01,-2.71412645e-02, 3.14817252e-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,
  7.15333235e-03,-4.28889698e-02, 7.92637561e-02, 6.99571866e-01,
 -8.56607850e-02,-7.03658027e-01,-9.01488488e-02]

qacc:
[ 3.27946080e-02,-1.89183263e+00, 4.10941328e+00, 1.55989928e+00,
 -3.54784516e-01, 9.49690130e-01,-7.93508580e+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,
  2.58862709e+00, 1.15765817e+00, 4.69511902e+00,-4.31946239e+00,
  1.26054629e+02, 1.00892330e+02]

qfrc_actuator:
[ 2.37021690e-03, 2.72039157e-02, 8.69012936e-03, 1.64565976e-03,
 -6.15739572e-05, 2.73086092e-02, 8.63530713e-03, 1.62309851e-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: -0.001900897986009939
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92025935e-14,  5.84051871e-14,  1.00000000e+00,  1.70558294e-27,
        1.00000000e+00, -5.84051871e-14, -1.00000000e+00,  0.00000000e+00,
       -2.92025935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072311, -0.04698165,  0.06181856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84759066e-06,-4.99446595e-05, 2.75997974e-05, 1.74659103e-05,
 -6.41834134e-05,-3.14419585e-05, 4.80952102e-06, 4.59580005e-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,
  1.37267134e-03, 1.65489223e-04,-4.90504914e+00,-1.53683471e-04,
  3.08012844e-02, 7.19403985e-03]


--- Step 2716 ---
qpos:
[-2.51726308e-03, 8.65816467e-01,-2.36910998e-02, 4.13950636e-04,
 -2.94137184e-03, 8.61899287e-01,-2.71406018e-02, 3.14844933e-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,
  7.15000558e-03,-4.28832908e-02, 7.92729381e-02, 6.99494390e-01,
 -8.57820415e-02,-7.03734684e-01,-9.00362967e-02]

qacc:
[ 4.64207244e-02,-2.06217942e-01, 1.23633174e+00,-3.62278482e+00,
 -2.99378393e-01,-3.05675209e+00, 6.19781012e+00, 3.33219100e+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,
  2.38967101e+00, 1.06749420e+00, 3.60045866e+00,-3.96734417e+00,
  1.16338941e+02, 9.32655524e+01]

qfrc_actuator:
[ 2.37589512e-03, 2.72146736e-02, 8.69001798e-03, 1.63835092e-03,
 -8.54310247e-05, 2.72102658e-02, 8.67054468e-03, 1.64981713e-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: -0.0019123196174313725
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.90281764e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.90281764e-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([-0.00071561, -0.04697997,  0.06181757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.46447930e-06,-1.06671963e-05,-6.40631097e-06,-8.15036979e-06,
 -5.43297619e-05,-1.12960906e-04, 3.09334996e-05, 2.64351640e-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,
  4.16993285e-04,-6.30130438e-05,-4.90501391e+00,-1.78268386e-04,
  3.08011655e-02, 7.19516378e-03]


--- Step 2717 ---
qpos:
[-2.51750700e-03, 8.65814867e-01,-2.36920334e-02, 4.14166679e-04,
 -2.94260408e-03, 8.61897260e-01,-2.71393339e-02, 3.14830935e-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,
  7.15558262e-03,-4.28736364e-02, 7.92928218e-02, 6.99584304e-01,
 -8.60112818e-02,-7.03644217e-01,-8.98258202e-02]

qacc:
[ 4.00710734e-02, 5.20348944e+00,-1.78837873e+01, 2.32502512e+01,
 -2.03509951e-02,-3.32589020e+00, 1.24886205e+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,
  2.22595209e+00, 9.93889816e-01, 2.67541654e+00,-3.65463337e+00,
  1.08289221e+02, 8.69485040e+01]

qfrc_actuator:
[ 2.37937787e-03, 2.72931543e-02, 8.63658601e-03, 1.65181002e-03,
 -6.34207000e-05, 2.72057797e-02, 8.70858035e-03, 1.62987606e-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: -0.001903171852426666
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37515544e-14,  2.91677029e-14,  1.00000000e+00, -1.27613234e-27,
        1.00000000e+00, -2.91677029e-14, -1.00000000e+00,  0.00000000e+00,
        4.37515544e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007229 , -0.0469823 ,  0.06181845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.52264857e-06, 7.09005774e-05,-5.66899525e-05, 1.26248604e-05,
 -3.79496217e-06,-6.01080307e-05, 1.94391290e-05,-2.31932650e-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,
  2.60058102e-05,-5.20862150e-05,-4.90500809e+00,-1.73525025e-04,
  3.08020091e-02, 7.19492872e-03]


--- Step 2718 ---
qpos:
[-2.51769109e-03, 8.65814194e-01,-2.36937470e-02, 4.14150238e-04,
 -2.94371130e-03, 8.61895831e-01,-2.71387301e-02, 3.14821106e-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,
  7.16952667e-03,-4.28602457e-02, 7.93202837e-02, 6.99831179e-01,
 -8.63419743e-02,-7.03396744e-01,-8.95232119e-02]

qacc:
[ 3.05392190e-02, 2.92188562e+00,-7.66357472e+00, 4.21011743e+00,
  6.52132606e-02, 2.72751233e+00,-8.75829084e+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,
  2.09175289e+00, 9.34045595e-01, 1.89456096e+00,-3.37455973e+00,
  1.01622954e+02, 8.17218441e+01]

qfrc_actuator:
[ 2.38151798e-03, 2.73581261e-02, 8.60567772e-03, 1.64191078e-03,
 -4.96977751e-05, 2.72930161e-02, 8.69502621e-03, 1.63597012e-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: -0.0018775785057291994
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43479336e-14,  2.95652890e-14,  1.00000000e+00, -1.31115947e-27,
        1.00000000e+00, -2.95652890e-14, -1.00000000e+00,  0.00000000e+00,
        4.43479336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074191, -0.04698785,  0.06182083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74031027e-06, 9.34970339e-05,-2.27928045e-05,-8.57493957e-06,
  1.19140919e-05, 5.66847127e-05,-2.43693461e-05, 3.74194882e-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,
  8.59707229e-05, 1.50137620e-04,-4.90502512e+00,-1.44262388e-04,
  3.08035478e-02, 7.19355916e-03]


--- Step 2719 ---
qpos:
[-2.51746109e-03, 8.65813616e-01,-2.36952050e-02, 4.13359515e-04,
 -2.94448224e-03, 8.61894707e-01,-2.71379848e-02, 3.14816679e-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,
  7.19139976e-03,-4.28433125e-02, 7.93526903e-02, 7.00226245e-01,
 -8.67686832e-02,-7.03000479e-01,-8.91332016e-02]

qacc:
[ 2.17189107e-01,-2.18107800e+00, 1.12290324e+01,-2.51096511e+01,
  1.77080190e-01, 1.19671637e-01,-6.90382655e-02, 5.53362362e-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,
  1.98226180e+00, 8.85647615e-01, 1.23618334e+00,-3.12111903e+00,
  9.61121398e+01, 7.74088932e+01]

qfrc_actuator:
[ 2.41834504e-03, 2.73258127e-02, 8.60603880e-03, 1.60061204e-03,
 -2.33435163e-05, 2.73100660e-02, 8.70480326e-03, 1.63964086e-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: -0.001838996690439923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01855634e-14,  6.03711268e-14,  1.00000000e+00, -1.82233648e-27,
        1.00000000e+00, -6.03711268e-14, -1.00000000e+00,  0.00000000e+00,
        3.01855634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077016, -0.04699593,  0.06182437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.95786657e-05, 1.49241593e-05, 1.65850945e-05,-3.82458027e-05,
  3.20171881e-05, 4.39051335e-05, 1.86173660e-05, 5.32959092e-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,
  5.14229681e-04, 5.08907043e-04,-4.90506157e+00,-9.40149274e-05,
  3.08055535e-02, 7.19122166e-03]


--- Step 2720 ---
qpos:
[-2.51717735e-03, 8.65812705e-01,-2.36967079e-02, 4.12502948e-04,
 -2.94492631e-03, 8.61893811e-01,-2.71367700e-02, 3.14746309e-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,
  7.22084654e-03,-4.28229921e-02, 7.93878239e-02, 7.00762126e-01,
 -8.72868952e-02,-7.02462036e-01,-8.86596219e-02]

qacc:
[ 2.82677556e-02,-4.49761750e-01, 1.24317776e+00,-2.06625115e+00,
  1.72330034e-01,-2.36643896e+00, 1.16594572e+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,
  1.89342118e+00, 8.46777019e-01, 6.81741113e-01,-2.88900746e+00,
  9.15712309e+01, 7.38660881e+01]

qfrc_actuator:
[ 2.40459557e-03, 2.72710931e-02, 8.58893259e-03, 1.59436628e-03,
 -7.42434474e-06, 2.73205621e-02, 8.72803915e-03, 1.60632334e-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: -0.0017903188155301147
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.10062938e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.10062938e-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([-0.00080559, -0.047006  ,  0.06182882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12735751e-06,-4.45565662e-05,-1.32877922e-05,-5.77324775e-06,
  3.11229060e-05, 3.91450879e-05, 3.47843930e-05,-3.06884303e-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,
  1.25083434e-03, 9.99242538e-04,-4.90511618e+00,-2.53760311e-05,
  3.08078239e-02, 7.18803922e-03]


--- Step 2721 ---
qpos:
[-2.51732723e-03, 8.65811045e-01,-2.36970876e-02, 4.11896623e-04,
 -2.94511504e-03, 8.61893305e-01,-2.71362266e-02, 3.14746040e-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,
  7.23775044e-03,-4.27962909e-02, 7.94072617e-02, 7.01032233e-01,
 -8.78980963e-02,-7.02189655e-01,-8.80762187e-02]

qacc:
[-2.26368064e-01,-3.60917612e+00, 1.03801982e+01,-7.29991613e+00,
  1.33950247e-01, 3.83071474e+00,-1.58727589e+01, 2.87968640e+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,
 -3.13572078e+00, 1.59522775e+00,-3.92394821e+00, 6.18698796e+00,
 -1.95486300e+02, 4.77471743e+01]

qfrc_actuator:
[ 2.36069488e-03, 2.72388255e-02, 8.65030754e-03, 1.60875359e-03,
  2.10865639e-06, 2.73270816e-02, 8.68795516e-03, 1.64026785e-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: -0.001753346574312739
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.749017e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        4.749017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04943096, -0.05901719,  0.06183226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14579578e-05,-6.01397127e-05, 5.03556811e-05, 1.19112038e-05,
  2.43119291e-05, 3.42944570e-05,-2.87777782e-05, 3.62281279e-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,
  2.25258389e-03, 1.60336907e-03,-4.90518922e+00, 5.97633448e-05,
  3.08101726e-02, 7.18410202e-03]


--- Step 2722 ---
qpos:
[-2.51739898e-03, 8.65809190e-01,-2.36969277e-02, 4.11781358e-04,
 -2.94530966e-03, 8.61892639e-01,-2.71356515e-02, 3.14788732e-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,
  7.24297470e-03,-4.27636818e-02, 7.94093328e-02, 7.01055613e-01,
 -8.85968194e-02,-7.02164156e-01,-8.73906672e-02]

qacc:
[ 4.14002720e-02,-7.54965388e-01, 2.44013613e-01, 7.53432611e+00,
 -3.00268760e-03, 5.82650305e-01,-4.20003355e+00, 1.17035778e+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,
 -2.91991007e+00, 1.47695665e+00,-4.34165696e+00, 5.21460844e+00,
 -1.81504440e+02, 4.48175426e+01]

qfrc_actuator:
[ 2.38793249e-03, 2.72560829e-02, 8.68661048e-03, 1.63523100e-03,
 -1.00018881e-05, 2.72954564e-02, 8.68184284e-03, 1.66021504e-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([ 8.63636364, -5.37268432,  6.76173351, -5.37268432, 49.34961035,
       32.3496071 ,  6.76173351, 32.3496071 , 34.34045662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017501352450350963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58591033e-14, -1.58591033e-14,  1.00000000e+00,  2.51511157e-28,
        1.00000000e+00,  1.58591033e-14, -1.00000000e+00,  0.00000000e+00,
        1.58591033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04943773, -0.05902338,  0.06183265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46479330e-06,-5.42280380e-06, 3.05158855e-05, 2.58805155e-05,
 -5.65588340e-07,-1.68292193e-05,-1.32206153e-06, 2.11250069e-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,
  7.38656046e-04, 1.19541658e-03,-4.90515666e+00, 5.22214195e-05,
  3.08073447e-02, 7.18543476e-03]


--- Step 2723 ---
qpos:
[-2.51707681e-03, 8.65807252e-01,-2.36977433e-02, 4.12075270e-04,
 -2.94558262e-03, 8.61891930e-01,-2.71346024e-02, 3.14815860e-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,
  7.23380881e-03,-4.27346297e-02, 7.93929853e-02, 7.00804851e-01,
 -8.91640026e-02,-7.02409224e-01,-8.68540399e-02]

qacc:
[ 2.05964060e-01, 3.45641393e+00,-1.42118194e+01, 2.29177764e+01,
 -4.09542129e-02,-1.69721790e+00, 6.63101950e+00,-1.00546638e+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,
 -3.59753665e+00,-8.89258642e-01,-4.60466543e+00,-6.49773458e+00,
 -1.78742593e+02,-1.22347826e+02]

qfrc_actuator:
[ 2.42200950e-03, 2.72140392e-02, 8.61924136e-03, 1.65086891e-03,
 -1.71868298e-05, 2.73123499e-02, 8.71343164e-03, 1.65400218e-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: -0.0017640154031581395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14686318e-14,  6.29372636e-14,  1.00000000e+00, -1.98054958e-27,
        1.00000000e+00, -6.29372636e-14, -1.00000000e+00,  0.00000000e+00,
        3.14686318e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05539382, -0.03512457,  0.06183143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.76387666e-05,-3.76208671e-05,-6.38203383e-05, 1.69682010e-05,
 -7.45580119e-06, 8.12560032e-06, 2.86815061e-05,-6.56883940e-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,
  7.01741375e-05, 4.24937989e-04,-4.90514893e+00, 4.42854138e-05,
  3.08051688e-02, 7.18519288e-03]


--- Step 2724 ---
qpos:
[-2.51654242e-03, 8.65805154e-01,-2.36990053e-02, 4.11493066e-04,
 -2.94556359e-03, 8.61891884e-01,-2.71337362e-02, 3.14761687e-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,
  7.22783994e-03,-4.27217417e-02, 7.93844766e-02, 7.00652780e-01,
 -8.94069954e-02,-7.02558241e-01,-8.66255753e-02]

qacc:
[ 1.11003788e-01,-7.68904176e-01, 6.13121596e+00,-2.04612996e+01,
  1.53384684e-01,-2.89020530e-01, 5.73047044e+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,
  7.99254621e-01,-4.04101141e+00, 1.95969096e+00, 5.59759018e+00,
  9.61341283e+01,-2.13270192e+02]

qfrc_actuator:
[ 2.42433786e-03, 2.72073904e-02, 8.59748405e-03, 1.60663069e-03,
  1.41636623e-05, 2.73760518e-02, 8.71392830e-03, 1.61475408e-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: -0.001785538605768952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10893033e-14, -9.32679098e-14,  1.00000000e+00,  2.89963434e-27,
        1.00000000e+00,  9.32679098e-14, -1.00000000e+00,  0.00000000e+00,
        3.10893033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683146, -0.02201391,  0.06182945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02761606e-05,-4.00838478e-05,-3.67822643e-05,-4.77252036e-05,
  2.78119497e-05, 7.38949699e-05, 5.47829279e-06,-3.80359853e-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,
  2.20003123e-04,-7.04704720e-04,-4.90514631e+00, 4.21745010e-05,
  3.08091348e-02, 7.18687690e-03]


--- Step 2725 ---
qpos:
[-2.51608178e-03, 8.65803919e-01,-2.37007602e-02, 4.09910088e-04,
 -2.94521026e-03, 8.61892649e-01,-2.71335338e-02, 3.14627730e-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,
  7.22482729e-03,-4.27237330e-02, 7.93801303e-02, 7.00591741e-01,
 -8.93516537e-02,-7.02619345e-01,-8.66807437e-02]

qacc:
[-3.93375526e-02, 4.58068761e-01, 4.24732748e+00,-2.14129714e+01,
  1.75301222e-01, 1.28372567e+00, 3.46245947e-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,
  7.39055724e-01,-3.71982538e+00, 1.04060609e+00, 5.14180135e+00,
  8.83770145e+01,-1.96289900e+02]

qfrc_actuator:
[ 2.40764115e-03, 2.73286054e-02, 8.60295494e-03, 1.56309368e-03,
  3.27911437e-05, 2.74138949e-02, 8.67848422e-03, 1.57415708e-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: -0.001810589453892654
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13183194e-14, -3.06591597e-14,  1.00000000e+00,  1.87996815e-27,
        1.00000000e+00,  3.06591597e-14, -1.00000000e+00,  0.00000000e+00,
        6.13183194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00684026, -0.02203906,  0.06182721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.02686123e-06, 8.92216756e-05,-8.96450724e-06,-4.74505341e-05,
  3.18394259e-05, 7.86638728e-05,-2.08304421e-05,-3.79831034e-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,
  9.77106117e-05,-2.03731010e-04,-4.90503059e+00, 1.16311520e-04,
  3.08017294e-02, 7.18316810e-03]


--- Step 2726 ---
qpos:
[-2.51594839e-03, 8.65803633e-01,-2.37021273e-02, 4.08778971e-04,
 -2.94495733e-03, 8.61893956e-01,-2.71342888e-02, 3.14520804e-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,
  7.22456730e-03,-4.27395324e-02, 7.93768120e-02, 7.00615012e-01,
 -8.90195141e-02,-7.02598951e-01,-8.69991138e-02]

qacc:
[-1.71641978e-01, 1.09908715e+00,-4.00862461e+00, 1.05118703e+01,
 -5.36598471e-02, 3.94372147e+00,-1.41660916e+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,
  6.88163478e-01,-3.45201778e+00, 2.56994497e-01, 4.73031005e+00,
  8.19227292e+01,-1.82145256e+02]

qfrc_actuator:
[ 2.37973049e-03, 2.74190622e-02, 8.64274043e-03, 1.59146302e-03,
  8.12046087e-06, 2.74180547e-02, 8.62202991e-03, 1.58631867e-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: -0.0018121070995731348
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06334826e-14, -9.19004477e-14,  1.00000000e+00,  2.81523076e-27,
        1.00000000e+00,  9.19004477e-14, -1.00000000e+00,  0.00000000e+00,
        3.06334826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00684117, -0.02204051,  0.06182705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12455926e-05, 1.36507422e-04, 5.54914959e-05, 3.09643850e-05,
 -9.54598765e-06, 4.22037206e-05,-4.40954746e-05, 1.40711469e-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,
  2.89317806e-05, 2.02414374e-05,-4.90500170e+00, 1.29691450e-04,
  3.07999271e-02, 7.18229628e-03]


--- Step 2727 ---
qpos:
[-2.51614470e-03, 8.65803944e-01,-2.37020502e-02, 4.08311725e-04,
 -2.94472134e-03, 8.61895139e-01,-2.71351730e-02, 3.14432204e-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,
  7.22688740e-03,-4.27682445e-02, 7.93718476e-02, 7.00716666e-01,
 -8.84285263e-02,-7.02502067e-01,-8.75636637e-02]

qacc:
[-1.72132910e-01,-1.87660332e+00, 5.03711983e+00, 3.69971243e+00,
 -8.94769668e-03, 5.72451072e-01,-3.05518078e+00, 6.52635767e+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,
  6.45024281e-01,-3.22818211e+00,-4.11500322e-01, 4.35521158e+00,
  7.65480189e+01,-1.70357754e+02]

qfrc_actuator:
[ 2.36312709e-03, 2.74551295e-02, 8.72018379e-03, 1.62641859e-03,
  1.10297530e-05, 2.73841970e-02, 8.60678633e-03, 1.59388115e-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: -0.0017946201518420982
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09319781e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.09319781e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068358 , -0.02202306,  0.06182855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14849614e-05, 1.25202075e-04, 1.13559792e-04, 4.33311259e-05,
 -1.61662472e-06,-1.87872802e-05,-1.14760791e-05, 8.11899455e-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,
  2.40292970e-06, 2.54612319e-05,-4.90504077e+00, 9.13968668e-05,
  3.08024786e-02, 7.18379806e-03]


--- Step 2728 ---
qpos:
[-2.51622791e-03, 8.65804448e-01,-2.37012561e-02, 4.07679631e-04,
 -2.94428923e-03, 8.61895273e-01,-2.71347348e-02, 3.14458826e-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,
  7.23164075e-03,-4.28091187e-02, 7.93629541e-02, 7.00891449e-01,
 -8.75936431e-02,-7.02332543e-01,-8.83602252e-02]

qacc:
[ 5.96780563e-02,-2.08710600e+00, 8.50743588e+00,-1.26504923e+01,
  1.04562545e-01,-2.70463026e+00, 2.77224203e+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,
  6.08311261e-01,-3.04053546e+00,-9.82290578e-01, 4.00948478e+00,
  7.20733228e+01,-1.60542266e+02]

qfrc_actuator:
[ 2.38894666e-03, 2.74052762e-02, 8.73024717e-03, 1.61167524e-03,
  3.04437277e-05, 2.73102267e-02, 8.66908195e-03, 1.65192097e-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: -0.0017619286621563118
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15059017e-14, -6.30118034e-14,  1.00000000e+00,  1.98524368e-27,
        1.00000000e+00,  6.30118034e-14, -1.00000000e+00,  0.00000000e+00,
        3.15059017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682545, -0.02199062,  0.06183137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08193116e-05, 4.54566053e-05, 5.14102382e-05,-4.60563994e-06,
  1.86442776e-05,-8.65181521e-05, 5.72816233e-05, 5.69967698e-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,
  9.84299201e-06,-1.45352411e-04,-4.90513469e+00, 8.23742298e-06,
  3.08083811e-02, 7.18730548e-03]


--- Step 2729 ---
qpos:
[-2.51609505e-03, 8.65803902e-01,-2.37004513e-02, 4.06743443e-04,
 -2.94401777e-03, 8.61894739e-01,-2.71341249e-02, 3.14523379e-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,
  7.22177038e-03,-4.28431816e-02, 7.93417312e-02, 7.00764331e-01,
 -8.68761038e-02,-7.02463647e-01,-8.90321261e-02]

qacc:
[ 1.13645333e-01,-2.04212195e+00, 6.55304064e+00,-1.10628634e+01,
 -8.42350841e-02,-5.80477757e-01,-8.10852554e-01, 7.59078239e+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,
 -3.65593137e+00, 1.70283198e+00,-3.08236254e+00, 2.71332418e+00,
 -2.22016023e+02, 5.83893553e+01]

qfrc_actuator:
[ 2.40440382e-03, 2.72330264e-02, 8.68227950e-03, 1.58542835e-03,
  6.29633175e-06, 2.72664199e-02, 8.66998537e-03, 1.66819442e-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: -0.0017853575972944513
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55462276e-14,  4.66386829e-14,  1.00000000e+00,  7.25055581e-28,
        1.00000000e+00, -4.66386829e-14, -1.00000000e+00,  0.00000000e+00,
       -1.55462276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04937424, -0.05899134,  0.06182923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06195218e-05,-1.36426502e-04,-3.24143192e-05,-2.26111517e-05,
 -1.53091938e-05,-7.79187781e-05,-7.93947316e-06, 1.56577206e-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,
  4.51420601e-05,-4.60811713e-04,-4.90527442e+00,-1.14666881e-04,
  3.08168089e-02, 7.19252086e-03]


--- Step 2730 ---
qpos:
[-2.51594975e-03, 8.65802374e-01,-2.37004070e-02, 4.05548682e-04,
 -2.94397505e-03, 8.61894185e-01,-2.71342234e-02, 3.14432129e-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,
  7.19851934e-03,-4.28709817e-02, 7.93059801e-02, 7.00360259e-01,
 -8.62649528e-02,-7.02870920e-01,-8.95898136e-02]

qacc:
[ 6.37110833e-03, 2.94843949e-01,-1.84278446e+00,-6.93225997e-01,
 -1.21000117e-01,-1.25515381e+00, 1.10126375e+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,
 -3.34516529e+00, 1.56569157e+00,-3.63204022e+00, 3.10250486e+00,
 -2.03736320e+02, 5.30602241e+01]

qfrc_actuator:
[ 2.39574270e-03, 2.71660299e-02, 8.63541787e-03, 1.57023715e-03,
 -8.20430663e-06, 2.72762550e-02, 8.63467511e-03, 1.58870952e-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([ 8.63636364,  8.5939174 , -0.85519619,  8.5939174 ,  9.34817237,
        7.15300829, -0.85519619,  7.15300829, 80.51736963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018126100232729453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06249830e-14, -6.89062119e-14,  1.00000000e+00,  2.11025157e-27,
        1.00000000e+00,  6.89062119e-14, -1.00000000e+00,  0.00000000e+00,
        3.06249830e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04932677, -0.05896708,  0.0618267 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15557002e-06,-1.50936550e-04,-7.98150757e-05,-2.25966232e-05,
 -2.17776525e-05,-3.46991117e-05,-5.18401419e-05,-8.27936615e-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,
  2.85376911e-04, 8.71309308e-04,-4.90522024e+00,-7.16597112e-05,
  3.08155806e-02, 7.19014748e-03]


--- Step 2731 ---
qpos:
[-2.51566808e-03, 8.65800904e-01,-2.37017500e-02, 4.04435967e-04,
 -2.94375808e-03, 8.61893580e-01,-2.71342869e-02, 3.14276077e-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,
  7.18600263e-03,-4.28936640e-02, 7.92916382e-02, 7.00160691e-01,
 -8.57845443e-02,-7.03072241e-01,-9.00302326e-02]

qacc:
[ 7.06136505e-02, 4.11905382e+00,-1.49241609e+01, 1.85246047e+01,
  9.17731203e-02,-1.49739053e+00, 7.97831511e+00,-1.92138073e+01,
  1.91231741e-01,-1.28321214e+00, 5.23812056e+00,-8.76577698e+00,
 -4.85616376e-02, 3.94834216e-01, 8.92068194e+00,-3.04238942e+01,
  2.68358366e+00, 1.27946931e+00, 5.35229929e+00,-4.97595812e+00,
  1.33075773e+02, 1.05056659e+02]

qfrc_actuator:
[ 2.40823308e-03, 2.72335479e-02, 8.58998685e-03, 1.57950810e-03,
  1.87207353e-05, 2.73001429e-02, 8.64945866e-03, 1.56007104e-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: -0.0018414611478957468
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01451656e-14, -6.02903312e-14,  1.00000000e+00,  1.81746202e-27,
        1.00000000e+00,  6.02903312e-14, -1.00000000e+00,  0.00000000e+00,
        3.01451656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076327, -0.04699914,  0.06182396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30276316e-05,-3.42977297e-05,-8.72062928e-05,-3.92983961e-07,
  1.65847934e-05,-9.75525075e-06,-1.62876304e-06,-3.35281051e-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,
  1.43166232e-03, 1.58300117e-03,-4.90520793e+00,-4.54090783e-05,
  3.08156646e-02, 7.18804775e-03]


--- Step 2732 ---
qpos:
[-2.51524509e-03, 8.65799747e-01,-2.37036263e-02, 4.03003334e-04,
 -2.94347729e-03, 8.61893373e-01,-2.71347673e-02, 3.14187725e-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,
  7.18018405e-03,-4.29056580e-02, 7.92928086e-02, 7.00070530e-01,
 -8.55357135e-02,-7.03164411e-01,-9.02480248e-02]

qacc:
[ 7.36363846e-02, 1.24275373e+00,-2.48344563e+00,-2.42794720e+00,
  3.32396013e-02, 3.08148364e+00,-1.30841204e+01, 2.51788005e+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,
  1.67452915e+00, 2.67207047e+00, 3.87808218e+00,-3.03017584e+00,
  5.66981123e+01, 1.68951899e+02]

qfrc_actuator:
[ 2.41553282e-03, 2.72923642e-02, 8.58185046e-03, 1.56771390e-03,
  1.69317880e-05, 2.73502533e-02, 8.64058061e-03, 1.59715887e-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([ 8.63636364,  2.93741272,  8.12147667,  2.93741272, 16.74032546,
       -2.93107787,  8.12147667, -2.93107787,  9.69648924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018676871459735863
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17709226e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17709226e-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([ 0.00466264, -0.0540768 ,  0.06182159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35127178e-05, 2.16580951e-05,-2.59541453e-05,-1.62835832e-05,
  6.08319857e-06, 4.29022014e-05,-1.22464446e-05, 3.59640764e-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,
  4.13584937e-04, 6.88251902e-04,-4.90511323e+00,-1.44568041e-04,
  3.08090882e-02, 7.19283753e-03]


--- Step 2733 ---
qpos:
[-2.51489746e-03, 8.65799601e-01,-2.37060174e-02, 4.01347011e-04,
 -2.94336566e-03, 8.61893783e-01,-2.71354667e-02, 3.14071118e-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,
  7.17742026e-03,-4.29040015e-02, 7.93001120e-02, 7.00012659e-01,
 -8.55659806e-02,-7.03226286e-01,-9.01860908e-02]

qacc:
[-4.02069015e-02, 2.31308214e+00,-5.36466531e+00, 1.57527486e+00,
 -8.94589691e-02, 8.45096433e-01,-6.37293272e-01,-4.35564459e+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,
  7.63699877e-01, 3.41260595e+00, 1.53323680e+00, 6.66591978e-01,
 -2.60002352e+00, 1.98792624e+02]

qfrc_actuator:
[ 2.40190603e-03, 2.73989403e-02, 8.57803913e-03, 1.56140239e-03,
 -2.04481290e-06, 2.73979161e-02, 8.63569605e-03, 1.58385350e-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: -0.0018775354039951148
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95659678e-14, -2.95659678e-14,  1.00000000e+00,  8.74146450e-28,
        1.00000000e+00,  2.95659678e-14, -1.00000000e+00,  0.00000000e+00,
        2.95659678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00961932, -0.06055781,  0.06182076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.17648821e-06, 1.12674134e-04,-3.07391445e-06,-6.59248955e-06,
 -1.60839943e-05, 7.06749795e-05, 3.71844445e-06,-1.11890338e-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,
  9.10849610e-05, 1.62988289e-04,-4.90503638e+00,-1.88378323e-04,
  3.08032169e-02, 7.19472132e-03]


--- Step 2734 ---
qpos:
[-2.51467238e-03, 8.65800696e-01,-2.37083957e-02, 3.99905131e-04,
 -2.94345330e-03, 8.61894516e-01,-2.71358456e-02, 3.13939505e-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,
  7.17752104e-03,-4.28896372e-02, 7.93104195e-02, 6.99984666e-01,
 -8.58561888e-02,-7.03260080e-01,-8.98634627e-02]

qacc:
[-6.46682801e-02, 2.04369983e+00,-5.81487489e+00, 8.59555582e+00,
 -1.04860688e-01,-7.77618207e-01, 4.02460230e+00,-7.37222070e+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,
  7.16140982e-01, 3.17697937e+00, 7.51042207e-01, 6.94437612e-01,
 -2.54080543e+00, 1.85191970e+02]

qfrc_actuator:
[ 2.39363613e-03, 2.74978425e-02, 8.59477025e-03, 1.57616486e-03,
 -1.33739320e-05, 2.74082265e-02, 8.65092908e-03, 1.57650625e-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: -0.0018670036633507692
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.94654979e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.94654979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00961783, -0.06056818,  0.06182175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16757817e-05, 1.61013331e-04, 3.94172807e-05, 1.93607881e-05,
 -1.89553765e-05, 5.01143573e-05, 2.99043597e-05,-4.40632097e-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,
  2.03716452e-05,-1.90124356e-05,-4.90499599e+00,-1.91562548e-04,
  3.07992164e-02, 7.19459747e-03]


--- Step 2735 ---
qpos:
[-2.51455772e-03, 8.65802422e-01,-2.37094822e-02, 3.98639681e-04,
 -2.94389171e-03, 8.61895191e-01,-2.71358384e-02, 3.13804581e-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,
  7.18628412e-03,-4.28712728e-02, 7.93300438e-02, 7.00119888e-01,
 -8.62511298e-02,-7.03130276e-01,-8.94466364e-02]

qacc:
[-5.72929256e-02,-2.40970570e+00, 9.06017287e+00,-8.54036297e+00,
 -1.84472213e-01,-1.22136756e+00, 4.38605787e+00,-5.53659140e+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,
  2.16557734e+00, 1.00000567e+00, 2.32918797e+00,-3.87702256e+00,
  1.05899693e+02, 8.41523519e+01]

qfrc_actuator:
[ 2.38865769e-03, 2.75204967e-02, 8.65901052e-03, 1.58547042e-03,
 -3.77694247e-05, 2.73784212e-02, 8.66002819e-03, 1.57271438e-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: -0.001851878301346449
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.99755935e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.99755935e-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([-0.00075624, -0.04700316,  0.06182315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05273247e-05, 1.21653099e-04, 1.03033232e-04, 1.79482879e-05,
 -3.33877588e-05, 4.18982536e-06, 2.29804869e-05,-6.94043985e-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,
  5.84605107e-07, 2.59824044e-06,-4.90498972e+00,-1.71023119e-04,
  3.07960216e-02, 7.19358803e-03]


--- Step 2736 ---
qpos:
[-2.51452637e-03, 8.65803483e-01,-2.37094327e-02, 3.99056179e-04,
 -2.94445967e-03, 8.61895306e-01,-2.71357448e-02, 3.13743933e-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,
  7.20322197e-03,-4.28491459e-02, 7.93560881e-02, 7.00408546e-01,
 -8.67449752e-02,-7.02846188e-01,-8.89405045e-02]

qacc:
[-4.26486640e-02,-5.88370635e-01,-6.27469978e+00, 3.40527534e+01,
 -6.79360595e-02, 5.47097981e-01,-6.16082814e+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,
  2.04369053e+00, 9.40618457e-01, 1.60499286e+00,-3.50874137e+00,
  9.96766718e+01, 7.95493909e+01]

qfrc_actuator:
[ 2.38569101e-03, 2.73909987e-02, 8.67946153e-03, 1.66246461e-03,
 -3.42682592e-05, 2.73070444e-02, 8.64750046e-03, 1.60650409e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018225234820641936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04584011e-14, -3.04584011e-14,  1.00000000e+00,  9.27714198e-28,
        1.00000000e+00,  3.04584011e-14, -1.00000000e+00,  0.00000000e+00,
        3.04584011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077763, -0.04701006,  0.06182585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.97576373e-06,-3.94553262e-05, 5.88882490e-05, 8.61219232e-05,
 -1.23477794e-05,-6.43359177e-05,-8.85792428e-06, 3.47526022e-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,
  2.04184866e-04, 4.34456124e-04,-4.90501383e+00,-1.12201771e-04,
  3.07963531e-02, 7.19293886e-03]


--- Step 2737 ---
qpos:
[-2.51455306e-03, 8.65804235e-01,-2.37093732e-02, 4.00772509e-04,
 -2.94506388e-03, 8.61894923e-01,-2.71358001e-02, 3.13794270e-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,
  7.22793680e-03,-4.28234470e-02, 7.93861095e-02, 7.00842411e-01,
 -8.73328752e-02,-7.02415353e-01,-8.83490504e-02]

qacc:
[-3.02424282e-02, 2.23886222e+00,-1.40626398e+01, 3.67705532e+01,
 -1.89368536e-02, 2.04037595e+00,-1.29171012e+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,
  1.94424570e+00, 8.93009435e-01, 9.94298337e-01,-3.18204814e+00,
  9.45372567e+01, 7.57553804e+01]

qfrc_actuator:
[ 2.38394845e-03, 2.73665323e-02, 8.67327807e-03, 1.72523799e-03,
 -3.18626374e-05, 2.72822612e-02, 8.63989457e-03, 1.66208011e-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: -0.0017814180805511143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.23224293e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.23224293e-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([-0.00080743, -0.04701916,  0.0618296 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55472176e-06,-3.07048566e-05,-4.10565619e-06, 6.47955878e-05,
 -3.46422854e-06,-6.11030447e-05,-2.07819798e-05, 5.31906756e-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,
  7.52259231e-04, 1.00155757e-03,-4.90505792e+00,-3.40523924e-05,
  3.07971292e-02, 7.19121676e-03]


--- Step 2738 ---
qpos:
[-2.51443233e-03, 8.65805250e-01,-2.37089947e-02, 4.02096480e-04,
 -2.94548092e-03, 8.61894196e-01,-2.71353931e-02, 3.13800931e-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,
  7.24051175e-03,-4.27918213e-02, 7.93995736e-02, 7.01020266e-01,
 -8.80149582e-02,-7.02240073e-01,-8.76517759e-02]

qacc:
[ 7.73760399e-02,-1.34982407e+00, 6.97502513e+00,-1.44702869e+01,
  9.89557845e-02,-2.64154750e+00, 1.06065328e+01,-1.86558909e+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,
 -3.03497018e+00, 1.48171880e+00,-4.13935245e+00, 4.27118331e+00,
 -1.88245952e+02, 4.76912159e+01]

qfrc_actuator:
[ 2.40070104e-03, 2.74227478e-02, 8.70504347e-03, 1.70817769e-03,
 -1.24032112e-05, 2.72855964e-02, 8.67094774e-03, 1.64130057e-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: -0.0017575540059447947
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57921609e-14, -7.89608044e-15,  1.00000000e+00,  1.24696173e-28,
        1.00000000e+00,  7.89608044e-15, -1.00000000e+00,  0.00000000e+00,
        1.57921609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04943223, -0.05900668,  0.06183186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40974924e-05, 4.09520313e-05, 2.71517670e-05,-1.72601571e-05,
  1.78068763e-05,-3.28371716e-05, 1.77170680e-05,-2.30810399e-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,
  1.59195051e-03, 1.68472910e-03,-4.90512139e+00, 6.12861171e-05,
  3.07980999e-02, 7.18857285e-03]


--- Step 2739 ---
qpos:
[-2.51413760e-03, 8.65806588e-01,-2.37085880e-02, 4.03562862e-04,
 -2.94493995e-03, 8.61893426e-01,-2.71344353e-02, 3.13709034e-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,
  7.23837268e-03,-4.27639947e-02, 7.93951365e-02, 7.00916201e-01,
 -8.85647354e-02,-7.02342516e-01,-8.71077326e-02]

qacc:
[ 9.11435723e-02, 6.39250529e-01,-2.26331468e+00, 4.44651441e+00,
  5.04847943e-01,-3.62298955e+00, 1.69958331e+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,
 -3.67850540e+00,-9.49799620e-01,-4.47527248e+00,-7.66316121e+00,
 -1.83790693e+02,-1.24741635e+02]

qfrc_actuator:
[ 2.41061586e-03, 2.74381600e-02, 8.70600734e-03, 1.71539996e-03,
  7.03374952e-05, 2.73058465e-02, 8.70689209e-03, 1.59356300e-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: -0.0017482243329614705
  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([ 0.05542323, -0.03510458,  0.06183275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66391741e-05, 4.31525682e-05, 1.21563251e-05, 9.57595346e-06,
  9.11897085e-05, 4.57489344e-06, 3.05488944e-05,-4.89801853e-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,
  4.15781593e-04, 1.05825981e-03,-4.90509231e+00, 5.27032422e-05,
  3.07953298e-02, 7.18621614e-03]


--- Step 2740 ---
qpos:
[-2.51388577e-03, 8.65808423e-01,-2.37090588e-02, 4.04799681e-04,
 -2.94361748e-03, 8.61892793e-01,-2.71334556e-02, 3.13630991e-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,
  7.22263484e-03,-4.27396796e-02, 7.93711694e-02, 7.00552210e-01,
 -8.89929273e-02,-7.02701294e-01,-8.67049695e-02]

qacc:
[-2.32314003e-02, 2.63463334e+00,-7.47312608e+00, 4.54112795e+00,
  4.11543510e-01, 4.05039332e-01,-1.76594242e+00, 4.02832494e+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,
 -3.39969274e+00,-8.77860298e-01,-4.88252837e+00,-7.34873974e+00,
 -1.69561300e+02,-1.14881953e+02]

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: -0.0017607593786327647
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15268241e-14, -3.15268241e-14,  1.00000000e+00, -9.93940639e-28,
        1.00000000e+00,  3.15268241e-14, -1.00000000e+00,  0.00000000e+00,
       -3.15268241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05539721, -0.03510961,  0.06183162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09039051e-06, 3.55343759e-05,-4.21340898e-05,-1.16407444e-05,
  7.43893237e-05, 1.92773692e-05, 6.11266465e-06, 8.12132981e-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,
  1.06725186e-05,-1.63206177e-04,-4.90508685e+00, 3.49350073e-05,
  3.08022536e-02, 7.18525064e-03]


--- Step 2741 ---
qpos:
[-2.51335917e-03, 8.65810635e-01,-2.37103719e-02, 4.04835961e-04,
 -2.94248452e-03, 8.61892436e-01,-2.71330845e-02, 3.13600048e-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,
  7.21017436e-03,-4.27318167e-02, 7.93553942e-02, 7.00287160e-01,
 -8.90962311e-02,-7.02963939e-01,-8.66109442e-02]

qacc:
[ 1.43334821e-01, 3.78739333e-01, 4.43879892e+00,-2.41442909e+01,
 -1.00260501e-01, 3.03254844e+00,-1.22730528e+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,
  8.19340792e-01,-4.11305549e+00, 2.04800532e+00, 5.56022886e+00,
  9.62585047e+01,-2.13726252e+02]

qfrc_actuator:
[ 2.42680447e-03, 2.74507582e-02, 8.60439480e-03, 1.63923906e-03,
  4.80900307e-05, 2.73259928e-02, 8.67594248e-03, 1.62405932e-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: -0.001809634420117931
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.06753401e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.06753401e-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([ 0.00683267, -0.02204584,  0.0618272 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62656639e-05, 1.47058732e-05,-4.70208891e-05,-6.22362340e-05,
 -1.80332331e-05, 2.00691110e-05,-2.90370508e-05, 2.38696864e-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,
  6.28123103e-04,-9.30721772e-04,-4.90510915e+00, 4.72831563e-05,
  3.08062621e-02, 7.18760904e-03]


--- Step 2742 ---
qpos:
[-2.51252852e-03, 8.65813618e-01,-2.37125207e-02, 4.04076949e-04,
 -2.94178149e-03, 8.61892931e-01,-2.71342516e-02, 3.13595599e-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,
  7.20073213e-03,-4.27390575e-02, 7.93440575e-02, 7.00113126e-01,
 -8.89005393e-02,-7.03138585e-01,-8.68011289e-02]

qacc:
[ 1.58581572e-01, 1.71486089e+00,-1.28121416e+00,-1.17097032e+01,
 -2.27685318e-01, 5.96165056e+00,-2.07478160e+01, 2.71749567e+01,
  1.42612137e-01,-1.57120409e+00, 6.18551585e+00,-1.08282097e+01,
  5.79406399e-02, 2.11061650e-01,-1.31476788e+00, 4.77328574e+00,
  7.54561584e-01,-3.77594810e+00, 1.10959995e+00, 5.04046016e+00,
  8.84116552e+01,-1.96744184e+02]

qfrc_actuator:
[ 2.44335776e-03, 2.75231052e-02, 8.57617337e-03, 1.60270308e-03,
  1.57417189e-05, 2.73838244e-02, 8.60247128e-03, 1.63750529e-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: -0.001834511286643782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02593675e-14, -3.02593675e-14,  1.00000000e+00,  9.15629322e-28,
        1.00000000e+00,  3.02593675e-14, -1.00000000e+00,  0.00000000e+00,
        3.02593675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068413 , -0.02207022,  0.06182494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90770149e-05, 6.81527252e-05,-3.31390673e-05,-3.87467682e-05,
 -4.09062064e-05, 6.40831937e-05,-7.20773381e-05, 1.37660103e-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,
  4.05959132e-04,-2.12179456e-04,-4.90502195e+00, 1.14888836e-04,
  3.08014082e-02, 7.18401617e-03]


--- Step 2743 ---
qpos:
[-2.51164013e-03, 8.65817171e-01,-2.37147849e-02, 4.03551007e-04,
 -2.94130017e-03, 8.61893975e-01,-2.71360187e-02, 3.13639163e-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,
  7.19408942e-03,-4.27602784e-02, 7.93339575e-02, 7.00023144e-01,
 -8.84274354e-02,-7.03231639e-01,-8.72550743e-02]

qacc:
[ 3.00111473e-02, 1.55546769e+00,-5.43618075e+00, 9.23594365e+00,
 -1.17304474e-01, 3.38864240e+00,-1.30566762e+01, 2.19253636e+01,
 -4.55900957e-02,-1.73227256e+00, 7.92809949e+00,-1.68634101e+01,
  5.52476113e-02,-1.90874157e-01,-3.82819619e+00, 1.32329702e+01,
  6.99881371e-01,-3.49499272e+00, 3.09179547e-01, 4.57477979e+00,
  8.18763027e+01,-1.82586039e+02]

qfrc_actuator:
[ 2.43502241e-03, 2.75648576e-02, 8.57835418e-03, 1.61706754e-03,
  1.40621132e-05, 2.74178149e-02, 8.57753092e-03, 1.66318434e-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: -0.0018355331506973577
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02425217e-14, -6.04850435e-14,  1.00000000e+00,  1.82922024e-27,
        1.00000000e+00,  6.04850435e-14, -1.00000000e+00,  0.00000000e+00,
        3.02425217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.006842  , -0.0220708 ,  0.06182479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53395947e-06, 7.13072205e-05, 1.08263500e-05, 1.53820856e-05,
 -2.10891749e-05, 5.55206549e-05,-2.01038741e-05, 2.61991576e-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,
  2.45980190e-04, 2.11701813e-04,-4.90501923e+00, 1.21236294e-04,
  3.08019383e-02, 7.18329697e-03]


--- Step 2744 ---
qpos:
[-2.51133789e-03, 8.65820894e-01,-2.37157788e-02, 4.03846078e-04,
 -2.94093522e-03, 8.61895096e-01,-2.71370327e-02, 3.13640737e-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,
  7.19006120e-03,-4.27945401e-02, 7.93223616e-02, 7.00011071e-01,
 -8.76949216e-02,-7.03248101e-01,-8.79557296e-02]

qacc:
[-3.06539916e-01,-1.63294581e+00, 2.68425432e+00, 9.36504450e+00,
 -6.08672682e-02,-2.86534063e+00, 1.21369642e+01,-2.06683349e+01,
 -1.86568918e-01,-2.37761487e+00, 1.12507341e+01,-2.36487236e+01,
  5.51239965e-02, 1.84438161e-01, 4.30986910e+00,-1.45271743e+01,
  6.53620972e-01,-3.26021686e+00,-3.73961792e-01, 4.15243360e+00,
  7.64272989e+01,-1.70778632e+02]

qfrc_actuator:
[ 2.37637330e-03, 2.75881452e-02, 8.65164808e-03, 1.66126201e-03,
  1.29948367e-05, 2.74197087e-02, 8.61689144e-03, 1.64262417e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018172863792283445
  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([ 0.00683638, -0.02205239,  0.06182632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.60078336e-05, 6.59892230e-05, 8.98773073e-05, 4.79218374e-05,
 -1.10716071e-05, 2.98956743e-05, 4.92620665e-05,-1.83668864e-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,
  1.35237667e-04, 4.02859400e-04,-4.90508168e+00, 7.55222329e-05,
  3.08065473e-02, 7.18496126e-03]


--- Step 2745 ---
qpos:
[-2.51168097e-03, 8.65824466e-01,-2.37145385e-02, 4.04641651e-04,
 -2.94063309e-03, 8.61896471e-01,-2.71376070e-02, 3.13617508e-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,
  7.19560945e-03,-4.28244632e-02, 7.93262474e-02, 7.00183832e-01,
 -8.70839862e-02,-7.03078050e-01,-8.85451083e-02]

qacc:
[-3.36851680e-01,-5.40744849e+00, 1.68821834e+01,-1.16891778e+01,
 -3.29059124e-02,-1.40068197e+00, 6.53132932e+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,
  2.39411903e+00, 1.08466279e+00, 3.87041532e+00,-3.52348087e+00,
  1.20046957e+02, 9.80040759e+01]

qfrc_actuator:
[ 2.34141464e-03, 2.75827741e-02, 8.76627031e-03, 1.68716806e-03,
  1.22783240e-05, 2.74381039e-02, 8.64046151e-03, 1.63053372e-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: -0.001809394100241432
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06794143e-14, -9.20382429e-14,  1.00000000e+00,  2.82367939e-27,
        1.00000000e+00,  9.20382429e-14, -1.00000000e+00,  0.00000000e+00,
        3.06794143e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078556, -0.04700895,  0.06182692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16655612e-05, 5.20556296e-05, 1.40961374e-04, 3.27725483e-05,
 -5.96889369e-06, 4.44790233e-05, 3.51774670e-05,-9.46226383e-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,
  6.40935355e-05, 4.07017018e-04,-4.90519586e+00,-1.53482344e-05,
  3.08141920e-02, 7.18862076e-03]


--- Step 2746 ---
qpos:
[-2.51198856e-03, 8.65828185e-01,-2.37127032e-02, 4.05471973e-04,
 -2.94017957e-03, 8.61897868e-01,-2.71380382e-02, 3.13585069e-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,
  7.21010234e-03,-4.28503657e-02, 7.93417829e-02, 7.00528443e-01,
 -8.65855553e-02,-7.02734785e-01,-8.90318138e-02]

qacc:
[ 1.89302592e-02,-1.39629799e+00, 5.11404492e+00,-5.57379828e+00,
  7.98068863e-02,-5.60556018e-01, 2.42930713e+00,-4.26883308e+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,
  2.23616074e+00, 1.00514074e+00, 2.91242240e+00,-3.47919798e+00,
  1.11600717e+02, 9.06450248e+01]

qfrc_actuator:
[ 2.37422176e-03, 2.75604607e-02, 8.77994913e-03, 1.68434053e-03,
  2.95178831e-05, 2.74129326e-02, 8.63681683e-03, 1.62352118e-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: -0.0018109818129691257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06525172e-14, -9.19575517e-14,  1.00000000e+00,  2.81873044e-27,
        1.00000000e+00,  9.19575517e-14, -1.00000000e+00,  0.00000000e+00,
        3.06525172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00078363, -0.04700835,  0.0618268 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39903439e-06, 3.72095007e-05, 4.28929960e-05, 4.91149624e-06,
  1.44112835e-05, 6.53123424e-06, 9.54218494e-06,-4.07455722e-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,
  6.90048081e-05,-4.27974034e-04,-4.90513633e+00,-1.09267768e-04,
  3.08083896e-02, 7.19205817e-03]


--- Step 2747 ---
qpos:
[-2.51207210e-03, 8.65831675e-01,-2.37118509e-02, 4.06767909e-04,
 -2.93954830e-03, 8.61899050e-01,-2.71383218e-02, 3.13478533e-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,
  7.23302048e-03,-4.28725119e-02, 7.93657307e-02, 7.01034006e-01,
 -8.61920710e-02,-7.02229160e-01,-8.94229117e-02]

qacc:
[ 1.16957935e-01, 3.40108154e+00,-1.45322499e+01, 2.43340327e+01,
  9.37376728e-02,-2.21944371e+00, 1.06311027e+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,
  2.10630924e+00, 9.39072810e-01, 2.10309596e+00,-3.42529148e+00,
  1.04611994e+02, 8.45568026e+01]

qfrc_actuator:
[ 2.39400777e-03, 2.74744867e-02, 8.69830208e-03, 1.70004366e-03,
  3.95893761e-05, 2.73795054e-02, 8.63471658e-03, 1.58399341e-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: -0.001794881154447453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.18549603e-14, -3.09274801e-14,  1.00000000e+00, -1.91301805e-27,
        1.00000000e+00,  3.09274801e-14, -1.00000000e+00,  0.00000000e+00,
       -6.18549603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007947 , -0.0470114 ,  0.06182829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14016064e-05,-5.62008550e-05,-6.85522841e-05, 1.88675475e-05,
  1.69132703e-05,-2.80067020e-05, 2.75930030e-07,-3.89982204e-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,
  5.25854183e-04,-9.94953551e-04,-4.90510779e+00,-1.74751480e-04,
  3.08033174e-02, 7.19423065e-03]


--- Step 2748 ---
qpos:
[-2.51211128e-03, 8.65834196e-01,-2.37113354e-02, 4.08295292e-04,
 -2.93895951e-03, 8.61900269e-01,-2.71387254e-02, 3.13324136e-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,
  7.24159329e-03,-4.28877794e-02, 7.93772537e-02, 7.01239415e-01,
 -8.59103802e-02,-7.02024430e-01,-8.96905175e-02]

qacc:
[ 2.33924873e-02, 1.36096655e-01,-3.32185033e+00, 8.57933128e+00,
 -2.24882073e-02,-6.01408224e-01, 4.23471763e+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,
 -3.58632853e+00, 1.71969101e+00,-3.10621730e+00, 4.69247038e+00,
 -2.21178099e+02, 5.61506839e+01]

qfrc_actuator:
[ 2.38802573e-03, 2.73861381e-02, 8.66731538e-03, 1.70866780e-03,
  2.75204838e-05, 2.73946102e-02, 8.63348136e-03, 1.56114747e-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: -0.0018402856401526363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50822106e-14, -1.50822106e-14,  1.00000000e+00,  2.27473077e-28,
        1.00000000e+00,  1.50822106e-14, -1.00000000e+00,  0.00000000e+00,
        1.50822106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04929194, -0.05893113,  0.06182446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20861110e-06,-1.33213770e-04,-5.04229480e-05, 4.20246935e-06,
 -4.04301705e-06,-2.19183313e-06,-8.34084066e-06,-2.47952439e-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,
  1.34884167e-03,-1.34546354e-03,-4.90510543e+00,-2.16273650e-04,
  3.07988497e-02, 7.19526537e-03]


--- Step 2749 ---
qpos:
[-2.51216723e-03, 8.65836372e-01,-2.37114311e-02, 4.09162219e-04,
 -2.93846926e-03, 8.61901834e-01,-2.71393595e-02, 3.13209334e-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,
  7.23698882e-03,-4.28967249e-02, 7.93741906e-02, 7.01169760e-01,
 -8.57309929e-02,-7.02096193e-01,-8.98448679e-02]

qacc:
[-9.08361785e-03,-1.07194314e-01, 2.50978089e+00,-1.27088671e+01,
 -5.21405928e-02, 1.91436691e+00,-7.83510245e+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,
 -3.29432438e+00, 1.58047213e+00,-3.64654227e+00, 4.46835071e+00,
 -2.02947130e+02, 5.14072863e+01]

qfrc_actuator:
[ 2.38442557e-03, 2.74037132e-02, 8.64871929e-03, 1.67758720e-03,
  2.00691208e-05, 2.74386690e-02, 8.63297372e-03, 1.58384992e-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: -0.00186536824690324
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97588164e-14,  1.48794082e-14,  1.00000000e+00, -4.42793578e-28,
        1.00000000e+00, -1.48794082e-14, -1.00000000e+00,  0.00000000e+00,
        2.97588164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04925129, -0.05891228,  0.06182235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61483455e-06,-6.72150758e-05,-5.22018440e-05,-3.84574063e-05,
 -9.37037725e-06, 4.00243026e-05,-2.85025746e-06, 2.18383878e-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,
  1.92196741e-04,-3.36191449e-04,-4.90504312e+00,-1.89457258e-04,
  3.07984357e-02, 7.19467907e-03]


--- Step 2750 ---
qpos:
[-2.51225353e-03, 8.65838348e-01,-2.37119126e-02, 4.09614612e-04,
 -2.93826073e-03, 8.61903921e-01,-2.71406732e-02, 3.13123396e-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,
  7.22019967e-03,-4.28998206e-02, 7.93546785e-02, 7.00845785e-01,
 -8.56459131e-02,-7.02423614e-01,-8.98945476e-02]

qacc:
[-1.61099839e-02,-3.98200921e-02, 1.50826539e+00,-7.91802334e+00,
 -1.48967177e-01, 3.18084441e+00,-1.15598230e+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,
 -3.04616655e+00, 1.46247957e+00,-4.11223720e+00, 4.26488901e+00,
 -1.87631783e+02, 4.74188022e+01]

qfrc_actuator:
[ 2.38229790e-03, 2.74135941e-02, 8.63796661e-03, 1.65898834e-03,
 -2.29130690e-06, 2.74642709e-02, 8.59755576e-03, 1.59769303e-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: -0.0018645280073064513
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.95444542e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.95444542e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04925295, -0.05891248,  0.06182241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90920527e-06,-4.01855211e-05,-3.24146734e-05,-2.40379074e-05,
 -2.68039263e-05, 4.82974809e-05,-2.67527447e-05, 1.58845783e-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,
  5.29624458e-05, 8.85109181e-05,-4.90502063e+00,-1.74764608e-04,
  3.07984885e-02, 7.19348160e-03]


--- Step 2751 ---
qpos:
[-2.51218122e-03, 8.65839231e-01,-2.37111153e-02, 4.10875280e-04,
 -2.93832589e-03, 8.61906254e-01,-2.71428126e-02, 3.12955780e-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,
  7.19207748e-03,-4.28974700e-02, 7.93171095e-02, 7.00284633e-01,
 -8.56483940e-02,-7.02988865e-01,-8.98467648e-02]

qacc:
[ 8.43850356e-02,-3.35156734e+00, 6.44370630e+00, 6.29945238e+00,
 -1.44794696e-01, 9.48059014e-01, 5.36626280e-01,-1.35309018e+01,
  2.14337954e-01,-3.04299265e-01, 7.03958847e+00,-2.44621815e+01,
 -7.34728169e-02, 1.67556622e-01,-1.02489161e+01, 3.44748573e+01,
 -2.83326229e+00, 1.36155566e+00,-4.51420020e+00, 4.07991382e+00,
 -1.74750215e+02, 4.40603735e+01]

qfrc_actuator:
[ 2.39882667e-03, 2.73478414e-02, 8.70294960e-03, 1.70115468e-03,
 -1.56219423e-05, 2.74429781e-02, 8.54173298e-03, 1.55291157e-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: -0.0018426860167843478
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.02502550e-14,  3.01251275e-14,  1.00000000e+00, -1.81504662e-27,
        1.00000000e+00, -3.01251275e-14, -1.00000000e+00,  0.00000000e+00,
        6.02502550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04928821, -0.05892782,  0.0618242 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51335897e-05,-9.59920623e-05, 5.18455912e-05, 3.88522246e-05,
 -2.60484490e-05, 8.27749888e-07,-4.85990349e-05,-4.33287355e-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,
  7.09678984e-04, 5.50127084e-05,-4.90502951e+00,-1.67912700e-04,
  3.07990098e-02, 7.19169562e-03]


--- Step 2752 ---
qpos:
[-2.51155928e-03, 8.65838928e-01,-2.37096034e-02, 4.11646589e-04,
 -2.93841635e-03, 8.61907954e-01,-2.71435786e-02, 3.12731919e-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,
  7.16728615e-03,-4.28803993e-02, 7.92885362e-02, 6.99757073e-01,
 -8.59464903e-02,-7.03521543e-01,-8.95023928e-02]

qacc:
[ 2.89004579e-01,-4.56922100e+00, 1.60846021e+01,-2.48281424e+01,
 -1.22625553e-02,-5.82518148e+00, 2.19359378e+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,
  8.32717441e-01, 3.68003632e+00, 2.24889099e+00, 7.17217761e-01,
 -2.76823072e+00, 2.10659623e+02]

qfrc_actuator:
[ 2.44412510e-03, 2.72554351e-02, 8.72310058e-03, 1.67220736e-03,
 -5.67741273e-06, 2.74113695e-02, 8.61610624e-03, 1.52720323e-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: -0.0018418612886978367
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01386166e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.01386166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00962017, -0.0605916 ,  0.06182404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24991567e-05,-1.33738682e-04, 8.04238925e-06,-3.05133519e-05,
 -2.41934880e-06,-4.30782743e-05, 6.70579530e-05,-2.81957516e-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,
  2.00049686e-03,-3.43761133e-04,-4.90505989e+00,-1.65833352e-04,
  3.07999466e-02, 7.18934074e-03]


--- Step 2753 ---
qpos:
[-2.51058267e-03, 8.65837639e-01,-2.37086947e-02, 4.12132544e-04,
 -2.93864203e-03, 8.61908773e-01,-2.71430538e-02, 3.12620848e-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,
  7.15285333e-03,-4.28584289e-02, 7.92785215e-02, 6.99422914e-01,
 -8.63686144e-02,-7.03859805e-01,-8.90473185e-02]

qacc:
[ 1.85900749e-01,-2.04785174e-01, 4.44969673e-02,-3.29314395e+00,
 -7.00136617e-02,-2.44618596e+00, 2.27317581e+00, 1.58273577e+01,
 -1.33453296e-01,-6.55056874e+00, 2.09714451e+01,-2.20655327e+01,
 -4.92299637e-02,-6.64739779e-02,-3.83102762e-01, 1.63907224e+00,
  2.58962585e+00, 1.22490080e+00, 4.63966528e+00,-4.84320206e+00,
  1.25745569e+02, 9.93701254e+01]

qfrc_actuator:
[ 2.45297298e-03, 2.71830719e-02, 8.68089976e-03, 1.65482406e-03,
 -1.74119601e-05, 2.73565987e-02, 8.67796521e-03, 1.58402167e-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: -0.0018761807797658195
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47936574e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47936574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00073641, -0.04700458,  0.06182089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38649508e-05,-1.46794230e-04,-6.98990846e-05,-2.34317423e-05,
 -1.28887813e-05,-6.62493892e-05, 6.02446175e-05, 5.67472532e-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,
  1.54866293e-03,-1.22632446e-03,-4.90503170e+00,-2.03603669e-04,
  3.07963340e-02, 7.18903907e-03]


--- Step 2754 ---
qpos:
[-2.50994512e-03, 8.65835998e-01,-2.37086537e-02, 4.13034039e-04,
 -2.93919049e-03, 8.61908755e-01,-2.71428055e-02, 3.12623655e-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,
  7.14798119e-03,-4.28319570e-02, 7.92827122e-02, 6.99267327e-01,
 -8.69060022e-02,-7.04018646e-01,-8.84889697e-02]

qacc:
[-1.78162246e-01, 2.81406484e+00,-1.24626940e+01, 2.13028153e+01,
 -1.69806833e-01, 2.01087939e+00,-1.35808122e+01, 3.43485738e+01,
 -7.95861831e-02,-2.51808232e+00, 8.92892293e+00,-1.39664754e+01,
 -4.57482659e-02,-8.86675492e-02, 1.05889029e+01,-3.60306491e+01,
  2.39016947e+00, 1.12540989e+00, 3.55135200e+00,-4.24061631e+00,
  1.15998101e+02, 9.23798783e+01]

qfrc_actuator:
[ 2.40442037e-03, 2.72117713e-02, 8.65557768e-03, 1.67987617e-03,
 -4.20339226e-05, 2.72706798e-02, 8.64308568e-03, 1.63563290e-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: -0.0018874343835641252
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.88218078e-14, -2.94109039e-14,  1.00000000e+00,  1.73000253e-27,
        1.00000000e+00,  2.94109039e-14, -1.00000000e+00,  0.00000000e+00,
        5.88218078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072886, -0.04700425,  0.06181987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24191296e-05,-6.88004202e-05,-6.50612573e-05, 1.58877484e-05,
 -3.07501144e-05,-1.08114680e-04,-3.91835731e-05, 5.19628817e-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,
  5.19251654e-04,-8.87984333e-04,-4.90501978e+00,-1.63421277e-04,
  3.07975157e-02, 7.19019639e-03]


--- Step 2755 ---
qpos:
[-2.50996053e-03, 8.65834650e-01,-2.37089919e-02, 4.13073656e-04,
 -2.93967017e-03, 8.61908446e-01,-2.71434072e-02, 3.12616362e-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,
  7.15201223e-03,-4.28013041e-02, 7.92974274e-02, 6.99277847e-01,
 -8.75513297e-02,-7.04010325e-01,-8.78334825e-02]

qacc:
[-3.42726870e-01,-3.29202480e-01, 5.37173726e+00,-1.98960603e+01,
  3.57854111e-02, 1.77844332e+00,-6.47706729e+00, 6.30617535e+00,
 -1.44111768e-01, 2.09325423e+00,-2.00768748e+00,-1.65310612e+01,
 -6.58050376e-02, 3.55698767e-01, 9.48539335e+00,-3.28232467e+01,
  2.22579673e+00, 1.04523776e+00, 2.63111129e+00,-3.72389465e+00,
  1.07919934e+02, 8.65716060e+01]

qfrc_actuator:
[ 2.35748458e-03, 2.72831159e-02, 8.65864131e-03, 1.64103962e-03,
 -2.08887803e-05, 2.72728947e-02, 8.60447193e-03, 1.63039989e-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: -0.0018782970753235956
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.95539784e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.95539784e-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([-0.00073594, -0.04700765,  0.06182071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.23989862e-05, 2.01479322e-05,-1.86004608e-05,-4.37248316e-05,
  6.53430413e-06,-6.41120379e-05,-6.39729427e-05,-1.02090974e-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,
  5.56605159e-05,-3.59540210e-04,-4.90503656e+00,-9.64179697e-05,
  3.07995078e-02, 7.18972012e-03]


--- Step 2756 ---
qpos:
[-2.51039207e-03, 8.65833799e-01,-2.37097937e-02, 4.12970685e-04,
 -2.93979601e-03, 8.61908382e-01,-2.71442458e-02, 3.12591570e-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,
  7.16440657e-03,-4.27667276e-02, 7.93195575e-02, 6.99443977e-01,
 -8.82984828e-02,-7.03844831e-01,-8.70858988e-02]

qacc:
[-2.18646501e-01, 1.65828138e+00,-4.35778391e+00, 2.26748717e+00,
  1.86096073e-01, 6.25514573e-01,-1.02132374e+00,-1.80783036e+00,
 -4.19401922e-01, 2.14658469e+00,-7.71854152e+00, 1.14661685e+01,
 -9.23832044e-02, 4.70603523e-01,-5.34751974e+00, 1.76542822e+01,
  2.09082467e+00, 9.80899590e-01, 1.85373427e+00,-3.27429899e+00,
  1.01226188e+02, 8.17580065e+01]

qfrc_actuator:
[ 2.34747367e-03, 2.73262867e-02, 8.64308961e-03, 1.63599161e-03,
  9.70153443e-06, 2.73455333e-02, 8.61755957e-03, 1.62734985e-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: -0.0018528473503610643
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99599161e-14, -8.98797484e-14,  1.00000000e+00,  2.69278972e-27,
        1.00000000e+00,  8.98797484e-14, -1.00000000e+00,  0.00000000e+00,
        2.99599161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075463, -0.04701409,  0.06182304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97587527e-05, 4.87495179e-05,-1.51814673e-05,-5.67642245e-06,
  3.36852378e-05, 2.31524431e-05,-8.38139144e-06,-8.20801558e-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,
  4.46261043e-05, 3.21941664e-04,-4.90507617e+00,-6.78576833e-06,
  3.08019383e-02, 7.18793538e-03]


--- Step 2757 ---
qpos:
[-2.51089478e-03, 8.65833793e-01,-2.37112587e-02, 4.12430864e-04,
 -2.93956270e-03, 8.61908164e-01,-2.71442339e-02, 3.12491660e-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,
  7.17978879e-03,-4.27466554e-02, 7.93454471e-02, 6.99698519e-01,
 -8.87481353e-02,-7.03592420e-01,-8.66224998e-02]

qacc:
[-3.80529245e-02, 2.06885877e+00,-3.91340989e+00,-3.20526615e+00,
  1.89696246e-01,-4.12300437e+00, 1.75782343e+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,
  7.46968198e-01,-3.62608377e+00, 9.39888949e-01, 4.15015822e+00,
  8.70115838e+01,-1.96395881e+02]

qfrc_actuator:
[ 2.35964206e-03, 2.73877363e-02, 8.61660489e-03, 1.61533690e-03,
  2.78937608e-05, 2.73357367e-02, 8.66139499e-03, 1.59021872e-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: -0.0018393952051039206
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01790236e-14, -3.01790236e-14,  1.00000000e+00,  9.10773463e-28,
        1.00000000e+00,  3.01790236e-14, -1.00000000e+00,  0.00000000e+00,
        3.01790236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683432, -0.02208599,  0.06182436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78150274e-06, 8.53535114e-05,-1.84693082e-05,-1.91990414e-05,
  3.41858706e-05, 1.07980217e-06, 4.73073121e-05,-3.65879415e-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,
  4.03617519e-04, 1.13025087e-03,-4.90513579e+00, 1.02414406e-04,
  3.08045030e-02, 7.18507753e-03]


--- Step 2758 ---
qpos:
[-2.51116648e-03, 8.65833421e-01,-2.37114372e-02, 4.11668246e-04,
 -2.93904748e-03, 8.61907937e-01,-2.71439959e-02, 3.12350482e-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,
  7.19795881e-03,-4.27400871e-02, 7.93720563e-02, 7.00035724e-01,
 -8.89220230e-02,-7.03259575e-01,-8.64223873e-02]

qacc:
[ 1.22049570e-01,-4.53451915e+00, 1.64081753e+01,-2.20564699e+01,
  1.48590491e-01,-1.49065535e+00, 7.04266642e+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,
  6.96951971e-01,-3.37597754e+00, 1.79893750e-01, 4.03738280e+00,
  8.08468818e+01,-1.81974139e+02]

qfrc_actuator:
[ 2.38493952e-03, 2.73353380e-02, 8.67270847e-03, 1.60342212e-03,
  3.85002813e-05, 2.73300389e-02, 8.66942860e-03, 1.56879039e-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: -0.001839676845140359
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01744034e-14, -3.01744034e-14,  1.00000000e+00,  9.10494620e-28,
        1.00000000e+00,  3.01744034e-14, -1.00000000e+00,  0.00000000e+00,
        3.01744034e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683359, -0.02208513,  0.06182451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20758496e-05,-9.29447535e-06, 7.08046392e-05,-9.26822720e-06,
  2.68347833e-05, 3.11966379e-06, 1.28217309e-05,-2.04555405e-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,
  5.95513404e-04, 8.15525816e-04,-4.90504520e+00, 1.54616524e-04,
  3.07997009e-02, 7.18409069e-03]


--- Step 2759 ---
qpos:
[-2.51116927e-03, 8.65831820e-01,-2.37096270e-02, 4.11522607e-04,
 -2.93852210e-03, 8.61908069e-01,-2.71441137e-02, 3.12218599e-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,
  7.21874909e-03,-4.27461910e-02, 7.93967997e-02, 7.00450532e-01,
 -8.88382394e-02,-7.02851388e-01,-8.64681793e-02]

qacc:
[ 1.42693894e-01,-5.90701720e+00, 1.61038258e+01,-7.70955059e+00,
  5.00131928e-03, 1.65665025e+00,-5.61438343e+00, 7.53115702e+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,
  6.55064289e-01,-3.16804198e+00,-4.66461898e-01, 3.91682004e+00,
  7.57260587e+01,-1.69972804e+02]

qfrc_actuator:
[ 2.40008805e-03, 2.72332572e-02, 8.75892807e-03, 1.63221724e-03,
  2.67363243e-05, 2.73622208e-02, 8.65626527e-03, 1.57449835e-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: -0.0018212828235111
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04791494e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04791494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682681, -0.02206556,  0.06182628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56741806e-05,-9.30370422e-05, 9.27078368e-05, 3.06688261e-05,
  9.75161861e-07, 3.57071260e-05,-1.16455564e-05, 5.88894834e-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,
  8.09595783e-04, 3.28632050e-04,-4.90502133e+00, 1.55922278e-04,
  3.07986837e-02, 7.18519958e-03]


--- Step 2760 ---
qpos:
[-2.51076493e-03, 8.65830232e-01,-2.37074466e-02, 4.11675666e-04,
 -2.93825471e-03, 8.61908204e-01,-2.71448161e-02, 3.12100762e-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,
  7.24201864e-03,-4.27642744e-02, 7.94174772e-02, 7.00938472e-01,
 -8.85118422e-02,-7.02371799e-01,-8.67454240e-02]

qacc:
[ 2.13699110e-01,-4.00218744e-01, 1.93526934e-01, 4.37301650e+00,
 -1.36233571e-01, 1.92565647e+00,-7.45299234e+00, 1.08183062e+01,
  3.25843045e-01,-3.24389282e+00, 1.15879157e+01,-1.29314189e+01,
 -6.39345037e-02, 5.62127324e-02,-4.29745431e+00, 1.46667520e+01,
  6.19817062e-01,-2.99488544e+00,-1.01647108e+00, 3.79250525e+00,
  7.14775927e+01,-1.59987849e+02]

qfrc_actuator:
[ 2.42676958e-03, 2.72799029e-02, 8.79098981e-03, 1.64918238e-03,
  1.70907321e-06, 2.73280048e-02, 8.61312259e-03, 1.57839488e-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: -0.0017879851032394853
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10467638e-14, -3.10467638e-14,  1.00000000e+00,  9.63901544e-28,
        1.00000000e+00,  3.10467638e-14, -1.00000000e+00,  0.00000000e+00,
        3.10467638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681523, -0.02203126,  0.06182932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89129803e-05, 1.51091457e-05, 2.53281132e-05, 1.67848641e-05,
 -2.45598812e-05,-1.64023703e-05,-3.69973940e-05, 5.13968328e-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,
  1.04170960e-03,-2.97456749e-04,-4.90505343e+00, 1.12988517e-04,
  3.08008532e-02, 7.18815390e-03]


--- Step 2761 ---
qpos:
[-2.51018919e-03, 8.65829583e-01,-2.37052709e-02, 4.10900480e-04,
 -2.93826686e-03, 8.61907647e-01,-2.71457491e-02, 3.12064242e-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,
  7.25050431e-03,-4.27863853e-02, 7.94200422e-02, 7.01149037e-01,
 -8.80605131e-02,-7.02165332e-01,-8.71735078e-02]

qacc:
[ 8.94841518e-02,-6.58692647e-01, 8.06475533e+00,-2.48112238e+01,
 -1.47069633e-01, 1.40267421e+00,-9.76177692e+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,
 -3.69597011e+00,-1.00685999e+00,-4.52813200e+00,-9.61720920e+00,
 -1.81037237e+02,-1.20856555e+02]

qfrc_actuator:
[ 2.42461986e-03, 2.73795274e-02, 8.80913262e-03, 1.60586313e-03,
 -1.32594374e-05, 2.72541608e-02, 8.58786869e-03, 1.61662515e-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: -0.0017444220235112787
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.36441761e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.36441761e-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([ 0.05543215, -0.03508223,  0.06183323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64084142e-05, 1.14047589e-04, 2.49590574e-05,-4.14704380e-05,
 -2.66288066e-05,-9.04354007e-05,-3.30153811e-05, 3.63501448e-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,
  1.28907818e-03,-1.03921561e-03,-4.90513416e+00, 3.08112087e-05,
  3.08056915e-02, 7.19274668e-03]


--- Step 2762 ---
qpos:
[-2.50973432e-03, 8.65829457e-01,-2.37033040e-02, 4.09333892e-04,
 -2.93813133e-03, 8.61906728e-01,-2.71468380e-02, 3.12103636e-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,
  7.24533851e-03,-4.28121873e-02, 7.94028883e-02, 7.01103444e-01,
 -8.74928589e-02,-7.02211125e-01,-8.77410800e-02]

qacc:
[-6.37252277e-02,-3.53563991e-01, 5.60579336e+00,-1.93532396e+01,
  7.78436591e-02, 1.51824098e+00,-9.31434260e+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,
 -3.41286610e+00,-9.22769658e-01,-4.92971839e+00,-8.47491775e+00,
 -1.67156247e+02,-1.12012956e+02]

qfrc_actuator:
[ 2.40524425e-03, 2.73679887e-02, 8.78364558e-03, 1.56298596e-03,
  1.34372996e-05, 2.72637503e-02, 8.59098051e-03, 1.65697411e-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([  8.63636364,   7.18051495,   4.79864376,   7.18051495,
        33.29589816, -36.89962524,   4.79864376, -36.89962524,
        63.85161282,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017532821116483105
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33225547e-14, -3.16612774e-14,  1.00000000e+00,  2.00487297e-27,
        1.00000000e+00,  3.16612774e-14, -1.00000000e+00,  0.00000000e+00,
        6.33225547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05541505, -0.03508304,  0.06183245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15373568e-05, 5.56133250e-05,-3.04303073e-07,-3.79365622e-05,
  1.40446624e-05,-4.62232299e-05,-1.83623660e-05, 3.60429721e-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,
  1.60808733e-04,-4.80209379e-04,-4.90509332e+00,-7.70098709e-07,
  3.08041523e-02, 7.18784312e-03]


--- Step 2763 ---
qpos:
[-2.50927409e-03, 8.65830049e-01,-2.37031819e-02, 4.08392085e-04,
 -2.93757265e-03, 8.61906258e-01,-2.71482885e-02, 3.12181899e-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,
  7.22696869e-03,-4.28317640e-02, 7.93710666e-02, 7.00781058e-01,
 -8.70313818e-02,-7.02533438e-01,-8.81941953e-02]

qacc:
[ 1.42995039e-03, 7.38378843e+00,-2.75934238e+01, 4.08365786e+01,
  2.22486479e-01, 2.40174846e+00,-9.34437156e+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,
 -3.30100726e+00, 1.55630003e+00,-3.66694848e+00, 2.98833873e+00,
 -2.03783479e+02, 5.31625895e+01]

qfrc_actuator:
[ 2.41126209e-03, 2.73785539e-02, 8.67892872e-03, 1.59161904e-03,
  4.70651604e-05, 2.73410997e-02, 8.59337680e-03, 1.68057042e-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: -0.001758998081116299
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57791961e-14,  7.88959804e-15,  1.00000000e+00, -1.24491514e-28,
        1.00000000e+00, -7.88959804e-15, -1.00000000e+00,  0.00000000e+00,
        1.57791961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04944551, -0.05898573,  0.06183183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.22886381e-07, 3.99627526e-05,-9.45936660e-05, 3.02660873e-05,
  4.02889328e-05, 4.92860394e-05,-8.14975228e-06, 2.16844942e-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,
  7.83414709e-05, 3.77288172e-04,-4.90508040e+00,-9.38072479e-06,
  3.07997433e-02, 7.18732121e-03]


--- Step 2764 ---
qpos:
[-2.50858978e-03, 8.65831328e-01,-2.37041815e-02, 4.08790687e-04,
 -2.93660624e-03, 8.61906541e-01,-2.71498997e-02, 3.12247827e-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,
  7.19640357e-03,-4.28455692e-02, 7.93227195e-02, 7.00202468e-01,
 -8.66672032e-02,-7.03111438e-01,-8.85415472e-02]

qacc:
[ 1.16606721e-01, 6.79846045e+00,-2.85827909e+01, 5.30748215e+01,
  2.14353152e-01, 1.18857712e+00,-2.27498184e+00,-1.54474190e-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,
 -3.04882316e+00, 1.44289459e+00,-4.13134480e+00, 3.18481156e+00,
 -1.88479244e+02, 4.88119714e+01]

qfrc_actuator:
[ 2.43243812e-03, 2.74374840e-02, 8.63490929e-03, 1.66205863e-03,
  6.67645113e-05, 2.74051803e-02, 8.59561166e-03, 1.67642932e-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: -0.0017630125543690311
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14865320e-14,  2.36148990e-14,  1.00000000e+00, -7.43551274e-28,
        1.00000000e+00, -2.36148990e-14, -1.00000000e+00,  0.00000000e+00,
        3.14865320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04943522, -0.05897938,  0.06183128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14298313e-05, 6.30219878e-05,-4.63769262e-05, 6.94669955e-05,
  3.88305246e-05, 9.09124258e-05, 1.21735916e-05,-1.88863516e-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,
  8.95309097e-04, 9.82980903e-04,-4.90508587e+00, 1.32617987e-05,
  3.08011336e-02, 7.18816395e-03]


--- Step 2765 ---
qpos:
[-2.50767002e-03, 8.65833319e-01,-2.37054711e-02, 4.08932058e-04,
 -2.93532864e-03, 8.61907148e-01,-2.71510395e-02, 3.12309362e-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,
  7.17703707e-03,-4.28543482e-02, 7.92978914e-02, 6.99835133e-01,
 -8.64406689e-02,-7.03477023e-01,-8.87630356e-02]

qacc:
[ 1.22996317e-01, 1.22034781e+00,-1.90171506e+00,-2.60784349e+00,
  1.64068445e-01,-9.78517364e-01, 4.29605980e+00,-6.04953017e+00,
  1.23027838e-01,-2.14159983e+00, 1.16434874e+01,-2.96348968e+01,
  4.14881709e-02,-2.42001263e-01, 8.21564420e+00,-2.85163079e+01,
  2.79965502e+00, 1.25654127e+00, 5.87975460e+00,-4.19071878e+00,
  1.37087028e+02, 1.11011733e+02]

qfrc_actuator:
[ 2.44473556e-03, 2.74896704e-02, 8.62732309e-03, 1.65010081e-03,
  7.79529198e-05, 2.74075585e-02, 8.61544612e-03, 1.67375496e-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: -0.0018180154734624282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.05339267e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.05339267e-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([-0.00077364, -0.04702274,  0.06182616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25211616e-05, 8.08027130e-05, 2.11686190e-06,-9.51247886e-06,
  2.96324263e-05, 5.56573148e-05, 4.00537546e-05, 1.60516360e-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,
  2.44127813e-03, 1.10999230e-03,-4.90511918e+00, 2.53860354e-05,
  3.08032812e-02, 7.18872795e-03]


--- Step 2766 ---
qpos:
[-2.50656588e-03, 8.65835015e-01,-2.37063809e-02, 4.08321967e-04,
 -2.93402655e-03, 8.61907835e-01,-2.71517736e-02, 3.12370853e-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,
  7.16793526e-03,-4.28585266e-02, 7.92914929e-02, 6.99661660e-01,
 -8.63403150e-02,-7.03648448e-01,-8.88694129e-02]

qacc:
[ 9.69699242e-02,-2.99629710e+00, 1.32915240e+01,-2.66898100e+01,
  1.31256235e-02,-1.02710824e+00, 3.81929350e+00,-4.53660021e+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,
  2.56617174e+00, 1.15016144e+00, 4.60737129e+00,-3.90207321e+00,
  1.25553348e+02, 1.01657472e+02]

qfrc_actuator:
[ 2.45160486e-03, 2.74132431e-02, 8.62346126e-03, 1.60751864e-03,
  6.62155786e-05, 2.73907958e-02, 8.62751989e-03, 1.67193055e-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: -0.0018554546521476548
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49589081e-14,  5.98356324e-14,  1.00000000e+00, -8.95075726e-28,
        1.00000000e+00, -5.98356324e-14, -1.00000000e+00,  0.00000000e+00,
        1.49589081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074669, -0.04701526,  0.06182275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76148402e-05,-3.12507366e-05, 1.27514324e-05,-3.92344471e-05,
  2.33552621e-06, 2.26976565e-05, 2.85619483e-05, 1.97685563e-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,
  9.79279936e-04, 4.42298598e-04,-4.90504294e+00,-4.81986995e-05,
  3.08018501e-02, 7.19108754e-03]


--- Step 2767 ---
qpos:
[-2.50533623e-03, 8.65835264e-01,-2.37056463e-02, 4.07959580e-04,
 -2.93297897e-03, 8.61908702e-01,-2.71523304e-02, 3.12395510e-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,
  7.16832680e-03,-4.28584544e-02, 7.92992174e-02, 6.99667473e-01,
 -8.63566035e-02,-7.03640656e-01,-8.88695155e-02]

qacc:
[ 6.73591810e-02,-5.99251008e+00, 1.75502461e+01,-1.48358850e+01,
 -1.34011012e-01,-1.01482292e+00, 5.51917316e+00,-1.23111104e+01,
  1.01045197e-01,-4.85846324e-02,-3.84319034e+00, 1.84101354e+01,
  4.25844626e-02,-9.02502939e-02,-5.15578264e+00, 1.71777077e+01,
  2.37333798e+00, 1.06264650e+00, 3.53078875e+00,-3.63873267e+00,
  1.16002204e+02, 9.39191689e+01]

qfrc_actuator:
[ 2.45517415e-03, 2.72958744e-02, 8.69229069e-03, 1.61816952e-03,
  4.08850129e-05, 2.73981676e-02, 8.63481434e-03, 1.65283758e-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: -0.0018677451548200913
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45814177e-14,  2.97209451e-14,  1.00000000e+00, -1.32500187e-27,
        1.00000000e+00, -2.97209451e-14, -1.00000000e+00,  0.00000000e+00,
        4.45814177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007381 , -0.04701293,  0.06182165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19624585e-05,-1.33922972e-04, 6.25820143e-05, 8.98911966e-06,
 -2.42195120e-05, 2.60360086e-05, 1.55690645e-05,-1.70944834e-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,
  2.16275535e-04, 9.56178088e-05,-4.90500695e+00,-8.54922843e-05,
  3.08014794e-02, 7.19197516e-03]


--- Step 2768 ---
qpos:
[-2.50440179e-03, 8.65834371e-01,-2.37046739e-02, 4.08823154e-04,
 -2.93221450e-03, 8.61909018e-01,-2.71521660e-02, 3.12402814e-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,
  7.17757670e-03,-4.28544187e-02, 7.93174250e-02, 6.99840335e-01,
 -8.64815887e-02,-7.03465863e-01,-8.87706035e-02]

qacc:
[-1.54156185e-01, 3.50194044e-01,-8.61366080e+00, 3.02896451e+01,
 -1.48448280e-01,-3.09822042e+00, 1.07238146e+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,
  2.21459114e+00, 9.90863878e-01, 2.62075470e+00,-3.39822107e+00,
  1.08088445e+02, 8.75139172e+01]

qfrc_actuator:
[ 2.42124330e-03, 2.72262216e-02, 8.69680259e-03, 1.67781427e-03,
  2.54203516e-05, 2.73311254e-02, 8.65705998e-03, 1.64150417e-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: -0.0018597239094430978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98491356e-14,  2.98491356e-14,  1.00000000e+00, -8.90970899e-28,
        1.00000000e+00, -2.98491356e-14, -1.00000000e+00,  0.00000000e+00,
        2.98491356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007442 , -0.04701471,  0.06182242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82449430e-05,-1.31242038e-04,-1.51342815e-05, 5.62475656e-05,
 -2.69584825e-05,-5.00201523e-05, 2.89468004e-05,-1.00124540e-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,
  8.35059305e-07, 3.30117913e-07,-4.90500041e+00,-9.31133611e-05,
  3.08019216e-02, 7.19163197e-03]


--- Step 2769 ---
qpos:
[-2.50419476e-03, 8.65832699e-01,-2.37037567e-02, 4.10368625e-04,
 -2.93168323e-03, 8.61908520e-01,-2.71512652e-02, 3.12434368e-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,
  7.19516428e-03,-4.28466542e-02, 7.93430419e-02, 7.00169960e-01,
 -8.67086503e-02,-7.03134029e-01,-8.85786305e-02]

qacc:
[-3.81103816e-01, 5.29641222e-01,-6.25912680e+00, 1.87206676e+01,
 -1.22054311e-01,-2.62905977e+00, 6.79498869e+00,-3.18209476e+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,
  2.08441732e+00, 9.32220657e-01, 1.85231206e+00,-3.17769614e+00,
  1.01535712e+02, 8.22161528e+01]

qfrc_actuator:
[ 2.36518287e-03, 2.72032255e-02, 8.69897810e-03, 1.71252011e-03,
  1.60056208e-05, 2.72733525e-02, 8.68766156e-03, 1.65253166e-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: -0.001835452496149248
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53657760e-14, -3.02438507e-14,  1.00000000e+00,  1.37203576e-27,
        1.00000000e+00,  3.02438507e-14, -1.00000000e+00,  0.00000000e+00,
        4.53657760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076197, -0.04701976,  0.06182465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.95441931e-05,-9.70936218e-05,-2.48501637e-05, 2.96537796e-05,
 -2.22183726e-05,-8.02059648e-05, 2.34875973e-05, 9.69130329e-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,
  2.23256116e-04, 1.06018421e-04,-4.90501714e+00,-7.59204162e-05,
  3.08029612e-02, 7.19024034e-03]


--- Step 2770 ---
qpos:
[-2.50431174e-03, 8.65831702e-01,-2.37031665e-02, 4.11112067e-04,
 -2.93132299e-03, 8.61908053e-01,-2.71505939e-02, 3.12474744e-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,
  7.22066454e-03,-4.28353514e-02, 7.93734753e-02, 7.00647699e-01,
 -8.70322773e-02,-7.02653234e-01,-8.82984583e-02]

qacc:
[-1.70354945e-01, 1.52835579e-01, 4.13304148e+00,-1.79856348e+01,
 -9.02182375e-02, 8.61769674e-01,-3.38794648e+00, 5.26066509e+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,
  1.97817117e+00, 8.84561041e-01, 1.20415364e+00,-2.97418229e+00,
  9.61207544e+01, 7.78444112e+01]

qfrc_actuator:
[ 2.36740551e-03, 2.73325848e-02, 8.71770234e-03, 1.67905840e-03,
  1.02842085e-05, 2.73103855e-02, 8.68746769e-03, 1.65887643e-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: -0.0017983363166059335
  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([-0.00078894, -0.0470274 ,  0.06182805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09479462e-05, 7.12254718e-05,-3.35959855e-06,-3.79039605e-05,
 -1.62788600e-05,-2.54870702e-06,-1.35324696e-05, 3.90975364e-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,
  8.04016003e-04, 3.76145422e-04,-4.90505400e+00,-3.74873819e-05,
  3.08044055e-02, 7.18793716e-03]


--- Step 2771 ---
qpos:
[-2.50438108e-03, 8.65831812e-01,-2.37032135e-02, 4.10721390e-04,
 -2.93108057e-03, 8.61908111e-01,-2.71505234e-02, 3.12587584e-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,
  7.25373252e-03,-4.28206642e-02, 7.94065411e-02, 7.01266276e-01,
 -8.74478905e-02,-7.02029973e-01,-8.79340304e-02]

qacc:
[ 2.41257379e-02, 9.07893849e-01, 3.67201062e+00,-2.30924711e+01,
 -6.25724763e-02, 3.86024803e+00,-1.58198058e+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,
  1.89193120e+00, 8.46086428e-01, 6.58076724e-01,-2.78471543e+00,
  9.16617136e+01, 7.42514660e+01]

qfrc_actuator:
[ 2.38673292e-03, 2.74101948e-02, 8.69339165e-03, 1.62365995e-03,
  6.80987717e-06, 2.73682794e-02, 8.66946789e-03, 1.69797413e-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: -0.001751224956703254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16984697e-14, -1.58492349e-14,  1.00000000e+00, -5.02396491e-28,
        1.00000000e+00,  1.58492349e-14, -1.00000000e+00,  0.00000000e+00,
       -3.16984697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00082307, -0.04703706,  0.06183235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58115158e-06, 1.15134780e-04,-1.13235928e-05,-5.32014998e-05,
 -1.12021582e-05, 5.38446072e-05,-2.00602194e-05, 3.85955448e-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,
  1.68563737e-03, 7.84311275e-04,-4.90510993e+00, 1.95601558e-05,
  3.08060768e-02, 7.18482418e-03]


--- Step 2772 ---
qpos:
[-2.50430607e-03, 8.65831808e-01,-2.37028387e-02, 4.10444381e-04,
 -2.93110266e-03, 8.61908322e-01,-2.71506374e-02, 3.12886340e-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,
  7.27349404e-03,-4.27992101e-02, 7.94253574e-02, 7.01603774e-01,
 -8.79621530e-02,-7.01688482e-01,-8.74532860e-02]

qacc:
[ 7.59923472e-02,-1.09363618e+00, 3.20329154e+00,-1.82889362e+00,
 -1.39374703e-01, 4.54192487e+00,-2.37508135e+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,
 -3.32661541e+00, 1.69175548e+00,-3.56236563e+00, 6.33785124e+00,
 -2.06884358e+02, 5.07334814e+01]

qfrc_actuator:
[ 2.39832853e-03, 2.73495366e-02, 8.69695909e-03, 1.62676288e-03,
 -1.30536342e-05, 2.73671727e-02, 8.65900038e-03, 1.79155713e-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: -0.0017823613004916347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55723621e-14, -1.55723621e-14,  1.00000000e+00,  2.42498462e-28,
        1.00000000e+00,  1.55723621e-14, -1.00000000e+00,  0.00000000e+00,
        1.55723621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04940299, -0.0589783 ,  0.06182979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37949231e-05,-8.95565461e-07, 2.41101069e-05, 6.60789476e-06,
 -2.51748988e-05, 2.65073151e-05,-4.85598529e-07, 9.59447913e-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,
  2.82689253e-03, 1.31159189e-03,-4.90518538e+00, 9.33043721e-05,
  3.08078058e-02, 7.18097595e-03]


--- Step 2773 ---
qpos:
[-2.50409049e-03, 8.65831161e-01,-2.37021301e-02, 4.10973306e-04,
 -2.93156024e-03, 8.61908375e-01,-2.71500865e-02, 3.13189425e-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,
  7.27785812e-03,-4.27815151e-02, 7.94271944e-02, 7.01650273e-01,
 -8.83346848e-02,-7.01635257e-01,-8.71311890e-02]

qacc:
[ 7.41779828e-02,-1.23605950e-01,-4.19502478e+00, 1.80816145e+01,
 -2.28863531e-01,-1.97557111e+00, 6.55962469e+00,-6.76037926e+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,
 -3.84936304e+00,-9.39807262e-01,-4.24482436e+00,-6.13476384e+00,
 -1.90044667e+02,-1.30781916e+02]

qfrc_actuator:
[ 2.40516927e-03, 2.72777056e-02, 8.69869646e-03, 1.66417251e-03,
 -4.25568203e-05, 2.73485795e-02, 8.68838139e-03, 1.79213852e-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: -0.001806609044111604
  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([ 0.05531168, -0.03511611,  0.06182777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34179293e-05,-6.70700841e-05, 4.74878720e-06, 3.83339918e-05,
 -4.14519501e-05, 2.27022262e-07, 3.81114511e-05, 3.56336057e-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,
  1.00522693e-03, 1.13276729e-03,-4.90514201e+00, 8.74691946e-05,
  3.08053590e-02, 7.18312994e-03]


--- Step 2774 ---
qpos:
[-2.50413847e-03, 8.65830920e-01,-2.37020298e-02, 4.10840995e-04,
 -2.93221948e-03, 8.61908679e-01,-2.71487009e-02, 3.13380773e-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,
  7.26805264e-03,-4.27673060e-02, 7.94102866e-02, 7.01429452e-01,
 -8.85778594e-02,-7.01847223e-01,-8.69549418e-02]

qacc:
[-1.38745081e-01, 8.74555446e-01, 4.51253537e-01,-1.12193705e+01,
 -1.05826229e-01,-4.29564383e+00, 2.05194067e+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,
 -3.54238713e+00,-8.71460118e-01,-4.68621455e+00,-6.03845597e+00,
 -1.74738545e+02,-1.19907273e+02]

qfrc_actuator:
[ 2.37359788e-03, 2.73417680e-02, 8.68150253e-03, 1.63266526e-03,
 -4.20617804e-05, 2.73907555e-02, 8.74089597e-03, 1.73799114e-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([ 8.63636364, -7.61315924,  4.07757075, -7.61315924, 23.82371212,
       28.35602605,  4.07757075, 28.35602605, 61.57939147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018264205755518098
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03934110e-14, -3.03934110e-14,  1.00000000e+00,  9.23759433e-28,
        1.00000000e+00,  3.03934110e-14, -1.00000000e+00,  0.00000000e+00,
        3.03934110e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05527281, -0.03512607,  0.06182605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51812669e-05, 2.91910716e-05,-2.91358326e-05,-3.34709034e-05,
 -1.91828516e-05, 5.03111311e-05, 5.73716680e-05,-5.27541086e-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,
  5.76274555e-05, 1.86749400e-04,-4.90508716e+00, 5.53202030e-05,
  3.08052818e-02, 7.18444352e-03]


--- Step 2775 ---
qpos:
[-2.50432286e-03, 8.65831418e-01,-2.37020747e-02, 4.09565388e-04,
 -2.93259421e-03, 8.61909190e-01,-2.71472343e-02, 3.13546071e-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,
  7.24513073e-03,-4.27563489e-02, 7.93731042e-02, 7.00960906e-01,
 -8.87019826e-02,-7.02304622e-01,-8.69136601e-02]

qacc:
[-7.19220814e-02,-9.72566839e-01, 9.70870625e+00,-2.98055201e+01,
  1.49796967e-01,-4.89414061e-01, 3.24058745e+00,-8.03077593e+00,
  1.93874935e-01,-2.61215743e+00, 1.18139482e+01,-2.27386513e+01,
 -8.37299925e-02,-2.00905957e-01, 1.53901415e+01,-5.25989574e+01,
 -3.27910799e+00,-8.12997820e-01,-5.06862496e+00,-5.91019902e+00,
 -1.61856320e+02,-1.10752816e+02]

qfrc_actuator:
[ 2.37258502e-03, 2.74155630e-02, 8.68926368e-03, 1.57870531e-03,
 -5.87480302e-06, 2.73802828e-02, 8.73584433e-03, 1.72316037e-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([ 8.63636364, -7.86363197,  3.5707239 , -7.86363197, 22.37526834,
       30.2565231 ,  3.5707239 , 30.2565231 , 75.26883616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018211664575675524
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.04810969e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.04810969e-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([ 0.055281  , -0.03512663,  0.0618264 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30153206e-05, 8.26690606e-05, 9.04367904e-06,-5.43686286e-05,
  2.70870815e-05, 2.72254219e-05, 1.05656997e-05,-1.17218889e-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,
  2.44477645e-04,-2.91395764e-04,-4.90507278e+00, 5.53432713e-05,
  3.08033742e-02, 7.18855738e-03]


--- Step 2776 ---
qpos:
[-2.50457666e-03, 8.65831270e-01,-2.37012388e-02, 4.08795827e-04,
 -2.93241936e-03, 8.61909547e-01,-2.71459194e-02, 3.13698669e-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,
  7.21000569e-03,-4.27484417e-02, 7.93143193e-02, 7.00260833e-01,
 -8.87156384e-02,-7.02990496e-01,-8.69980665e-02]

qacc:
[-3.55880592e-02,-2.27079317e+00, 4.72439866e+00, 3.09633567e+00,
  2.89381161e-01,-4.13109077e-02, 3.87507018e-01,-2.22887570e+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,
 -3.05078146e+00,-7.62466478e-01,-5.40064134e+00,-5.75865180e+00,
 -1.51002210e+02,-1.03036607e+02]

qfrc_actuator:
[ 2.37213289e-03, 2.73171772e-02, 8.71177814e-03, 1.60078346e-03,
  3.35692032e-05, 2.73381658e-02, 8.71442550e-03, 1.71375702e-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: -0.0017956183133813752
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09147834e-14, -3.09147834e-14,  1.00000000e+00,  9.55723833e-28,
        1.00000000e+00,  3.09147834e-14, -1.00000000e+00,  0.00000000e+00,
        3.09147834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05532658, -0.03511976,  0.06182839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.64834027e-06,-5.26307345e-05, 3.88194064e-05, 2.48755946e-05,
  5.23057364e-05,-2.52363328e-05,-1.49185568e-05,-8.10548667e-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,
  1.32101390e-03,-4.02206738e-04,-4.90508836e+00, 7.92795933e-05,
  3.07999269e-02, 7.19509625e-03]


--- Step 2777 ---
qpos:
[-2.50523635e-03, 8.65830369e-01,-2.36999679e-02, 4.08688387e-04,
 -2.93211231e-03, 8.61910102e-01,-2.71449915e-02, 3.13801427e-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,
  7.17811325e-03,-4.27582308e-02, 7.92658969e-02, 6.99664482e-01,
 -8.83925918e-02,-7.03575043e-01,-8.73986324e-02]

qacc:
[-2.12229960e-01,-8.45474953e-01,-1.22217283e+00, 1.25371865e+01,
  6.92852542e-02, 3.16979078e-01, 1.35417371e+00,-9.50656371e+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,
  8.08148539e-01,-4.42408642e+00, 2.59063823e+00, 6.95444873e+00,
  1.00605742e+02,-2.20039958e+02]

qfrc_actuator:
[ 2.33649952e-03, 2.72585924e-02, 8.72442389e-03, 1.63178718e-03,
  2.13306602e-05, 2.73661032e-02, 8.70113931e-03, 1.68982818e-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: -0.0018515916323031123
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.99802344e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.99802344e-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([ 0.00685174, -0.02208891,  0.06182312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88110041e-05,-7.89340830e-05, 7.41542858e-06, 3.05771971e-05,
  1.25883939e-05, 1.03826900e-05,-2.06330779e-05,-2.56897128e-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,
  3.10811675e-03,-2.20069359e-04,-4.90512221e+00, 1.21128789e-04,
  3.07951316e-02, 7.20373317e-03]


--- Step 2778 ---
qpos:
[-2.50612247e-03, 8.65829705e-01,-2.36991807e-02, 4.08199150e-04,
 -2.93200822e-03, 8.61910497e-01,-2.71432681e-02, 3.13836521e-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,
  7.14920324e-03,-4.27841039e-02, 7.92236660e-02, 6.99162107e-01,
 -8.77603690e-02,-7.04067181e-01,-8.80901233e-02]

qacc:
[-1.19119174e-01, 8.77929851e-01,-1.06466673e+00,-4.94258144e+00,
 -1.06371132e-01,-3.82420708e+00, 1.61865010e+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,
  7.45608880e-01,-4.02099201e+00, 1.54786818e+00, 5.93122542e+00,
  9.17560094e+01,-2.02348453e+02]

qfrc_actuator:
[ 2.33337954e-03, 2.73130166e-02, 8.71348942e-03, 1.61452985e-03,
 -3.96724916e-06, 2.73647715e-02, 8.74628647e-03, 1.65760626e-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: -0.0018834675731264836
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94728468e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.94728468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00686473, -0.02211978,  0.06182003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16356675e-05, 1.31352888e-05,-2.52667641e-05,-1.97865151e-05,
 -1.93202124e-05,-9.08351870e-07, 4.38465520e-05,-3.29953899e-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,
  2.54959724e-03, 1.15654637e-03,-4.90503201e+00, 1.61594783e-04,
  3.07861886e-02, 7.19691703e-03]


--- Step 2779 ---
qpos:
[-2.50657384e-03, 8.65829759e-01,-2.36996686e-02, 4.07499328e-04,
 -2.93197253e-03, 8.61910526e-01,-2.71408855e-02, 3.13836287e-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,
  7.13161073e-03,-4.28055133e-02, 7.92053688e-02, 6.98870013e-01,
 -8.72695386e-02,-7.04348136e-01,-8.86478160e-02]

qacc:
[ 2.26863321e-01, 4.07426204e+00,-1.22651971e+01, 1.01373231e+01,
 -3.54938563e-02,-3.04971317e+00, 1.16656087e+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,
  2.82937310e+00, 1.11589902e+00, 5.98341842e+00,-2.40110433e+00,
  1.35752785e+02, 1.15076818e+02]

qfrc_actuator:
[ 2.38525575e-03, 2.73635469e-02, 8.65364613e-03, 1.60460022e-03,
 -1.31321427e-06, 2.73284058e-02, 8.77220811e-03, 1.63853871e-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: -0.0019291184137453163
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87753986e-14, -5.75507971e-14,  1.00000000e+00,  1.65604712e-27,
        1.00000000e+00,  5.75507971e-14, -1.00000000e+00,  0.00000000e+00,
        2.87753986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00069879, -0.04697476,  0.06181579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15626723e-05, 5.18188791e-05,-6.09274858e-05,-1.06256026e-05,
 -6.51755265e-06,-2.92577048e-05, 2.99772994e-05,-1.82345919e-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,
  2.09411293e-03, 2.16588811e-03,-4.90503359e+00, 1.37133514e-04,
  3.07836398e-02, 7.19385315e-03]


--- Step 2780 ---
qpos:
[-2.50649298e-03, 8.65830114e-01,-2.37010695e-02, 4.06714484e-04,
 -2.93195231e-03, 8.61910509e-01,-2.71394212e-02, 3.13854655e-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,
  7.12436120e-03,-4.28227814e-02, 7.92058090e-02, 6.98770899e-01,
 -8.69075678e-02,-7.04436128e-01,-8.90844992e-02]

qacc:
[ 2.78365896e-01, 2.77257939e+00,-8.95075591e+00, 8.72137382e+00,
 -8.70033425e-03, 2.88561820e+00,-1.11634527e+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,
  2.58574601e+00, 1.03535177e+00, 4.68434964e+00,-2.54386836e+00,
  1.24398642e+02, 1.04639495e+02]

qfrc_actuator:
[ 2.41630118e-03, 2.73579078e-02, 8.60094774e-03, 1.59904873e-03,
  3.05970166e-07, 2.73067946e-02, 8.71540206e-03, 1.64506372e-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: -0.001962889222054981
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82803281e-14, -2.82803281e-14,  1.00000000e+00,  7.99776958e-28,
        1.00000000e+00,  2.82803281e-14, -1.00000000e+00,  0.00000000e+00,
        2.82803281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00067571, -0.04696485,  0.06181276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.08716247e-05, 1.03080199e-05,-4.98660435e-05,-5.64611768e-06,
 -1.47845531e-06,-3.25818511e-05,-5.98051480e-05, 5.95071840e-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,
  7.69100680e-04, 1.06383740e-03,-4.90497023e+00, 1.84048489e-05,
  3.07871578e-02, 7.19327767e-03]


--- Step 2781 ---
qpos:
[-2.50652415e-03, 8.65829926e-01,-2.37021986e-02, 4.05896509e-04,
 -2.93192918e-03, 8.61910367e-01,-2.71389442e-02, 3.13916836e-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,
  7.12665257e-03,-4.28361791e-02, 7.92205923e-02, 6.98850257e-01,
 -8.66640646e-02,-7.04346079e-01,-8.94106167e-02]

qacc:
[-5.83834411e-02,-1.54547663e+00, 4.60859125e+00,-5.21864914e+00,
  9.73912916e-04, 3.49130099e+00,-1.45410485e+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,
  2.38522425e+00, 9.67598183e-01, 3.58577441e+00,-2.62262696e+00,
  1.14984911e+02, 9.60425966e+01]

qfrc_actuator:
[ 2.38131885e-03, 2.73009433e-02, 8.60594223e-03, 1.59608278e-03,
  1.27867134e-06, 2.72938618e-02, 8.66353104e-03, 1.66654628e-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: -0.001971154576484932
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81617443e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.81617443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00067097, -0.04696086,  0.06181207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07225933e-05,-6.17314184e-05, 7.93098578e-07,-4.35815525e-06,
  2.67542353e-07,-4.32598811e-05,-6.57744164e-05, 1.81302089e-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,
  1.29471764e-04, 3.35031184e-04,-4.90494282e+00,-6.14895327e-05,
  3.07904778e-02, 7.19195768e-03]


--- Step 2782 ---
qpos:
[-2.50682759e-03, 8.65829403e-01,-2.37030570e-02, 4.05368051e-04,
 -2.93189864e-03, 8.61909931e-01,-2.71388163e-02, 3.14036553e-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,
  7.13782683e-03,-4.28459334e-02, 7.92460067e-02, 6.99095913e-01,
 -8.65303975e-02,-7.04090203e-01,-8.96347079e-02]

qacc:
[-1.42441024e-01,-6.02023188e-01, 2.83167082e-01, 4.53956254e+00,
  3.81870859e-03, 1.76898461e+00,-9.30253988e+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,
  2.22072567e+00, 9.10853020e-01, 2.65778458e+00,-2.65597116e+00,
  1.07178151e+02, 8.89518575e+01]

qfrc_actuator:
[ 2.36040915e-03, 2.73026715e-02, 8.62698004e-03, 1.61240291e-03,
  1.85129728e-06, 2.72862340e-02, 8.65056262e-03, 1.69667683e-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: -0.0019588660723745543
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83384107e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.83384107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00068086, -0.04696155,  0.06181326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60288314e-05,-3.28004662e-05, 8.24691840e-06, 1.36217503e-05,
  6.94882071e-07,-4.46264027e-05,-2.93828977e-05, 2.63522561e-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,
  2.52642142e-05,-1.03857944e-04,-4.90494160e+00,-1.09874147e-04,
  3.07937602e-02, 7.18990785e-03]


--- Step 2783 ---
qpos:
[-2.50701779e-03, 8.65829225e-01,-2.37042852e-02, 4.05685903e-04,
 -2.93204759e-03, 8.61908817e-01,-2.71381191e-02, 3.14155413e-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,
  7.15734641e-03,-4.28522333e-02, 7.92789205e-02, 6.99497635e-01,
 -8.64993908e-02,-7.03678465e-01,-8.97637529e-02]

qacc:
[ 5.90584232e-02, 3.22983651e+00,-1.44282073e+01, 2.94151818e+01,
 -9.39261560e-02,-2.50080608e+00, 7.65669020e+00,-8.22133309e+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,
  2.08632580e+00, 8.63585673e-01, 1.87485157e+00,-2.65720066e+00,
  1.00710857e+02, 8.31022627e+01]

qfrc_actuator:
[ 2.38365332e-03, 2.73573765e-02, 8.62203106e-03, 1.65773793e-03,
 -1.55744209e-05, 2.72465035e-02, 8.67844519e-03, 1.69617845e-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: -0.0019301791394052414
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.75191702e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.75191702e-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([-0.00070236, -0.0469659 ,  0.06181593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08301211e-05, 3.86677532e-05,-1.02236508e-05, 4.44838422e-05,
 -1.71013648e-05,-6.96162585e-05, 1.59585063e-05,-2.91549624e-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,
  3.48089004e-04,-3.13261039e-04,-4.90496106e+00,-1.32126725e-04,
  3.07970749e-02, 7.18715442e-03]


--- Step 2784 ---
qpos:
[-2.50719381e-03, 8.65829630e-01,-2.37057246e-02, 4.06501548e-04,
 -2.93238994e-03, 8.61907282e-01,-2.71363143e-02, 3.14231124e-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,
  7.18477420e-03,-4.28552353e-02, 7.93166950e-02, 7.00046831e-01,
 -8.65650793e-02,-7.03118953e-01,-8.98034460e-02]

qacc:
[ 7.12561818e-03, 2.38561132e+00,-9.48807778e+00, 1.80132835e+01,
 -1.01025828e-01,-4.53492037e+00, 1.71864366e+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,
  1.97705563e+00, 8.24473375e-01, 1.21517167e+00,-2.63574731e+00,
  9.53664409e+01, 7.82819108e+01]

qfrc_actuator:
[ 2.37985534e-03, 2.74078164e-02, 8.61977482e-03, 1.68430401e-03,
 -2.58625776e-05, 2.72590222e-02, 8.74781207e-03, 1.67765650e-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: -0.001888575626307662
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46965656e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.46965656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00073298, -0.04697311,  0.06181976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37157695e-06, 7.18713605e-05, 6.02044730e-06, 2.87360730e-05,
 -1.84150433e-05,-2.32208369e-05, 5.68564251e-05,-2.10094816e-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,
  1.01960155e-03,-3.37161926e-04,-4.90499853e+00,-1.32209388e-04,
  3.08004324e-02, 7.18372514e-03]


--- Step 2785 ---
qpos:
[-2.50757198e-03, 8.65830540e-01,-2.37074103e-02, 4.06951101e-04,
 -2.93269982e-03, 8.61905540e-01,-2.71340469e-02, 3.14320200e-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,
  7.21975696e-03,-4.28550679e-02, 7.93571100e-02, 7.00736284e-01,
 -8.67225088e-02,-7.02418176e-01,-8.97584147e-02]

qacc:
[-1.06339057e-01, 5.99388946e-01, 3.73051981e-01,-6.68417826e+00,
  1.74770870e-02,-1.28907790e+00, 3.63734708e+00,-1.91429559e+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,
  1.88873919e+00, 7.92367733e-01, 6.60111790e-01,-2.59820661e+00,
  9.09680357e+01, 7.43200053e+01]

qfrc_actuator:
[ 2.35988581e-03, 2.74198149e-02, 8.60137092e-03, 1.66411347e-03,
 -1.40298591e-05, 2.72496479e-02, 8.77029319e-03, 1.68425201e-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: -0.0018369670025616125
  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([-0.00077069, -0.04698252,  0.06182448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93071898e-05, 5.46629294e-05,-1.81692157e-06,-1.63437197e-05,
  3.08768132e-06,-1.14975711e-05, 2.39605276e-05, 7.15843966e-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,
  1.98338539e-03,-2.07601006e-04,-4.90505326e+00,-1.13042893e-04,
  3.08038034e-02, 7.17964403e-03]


--- Step 2786 ---
qpos:
[-2.50798327e-03, 8.65831832e-01,-2.37095564e-02, 4.07531705e-04,
 -2.93291852e-03, 8.61903375e-01,-2.71313808e-02, 3.14419753e-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,
  7.24102932e-03,-4.28476312e-02, 7.93842960e-02, 7.01133173e-01,
 -8.69765326e-02,-7.02011738e-01,-8.95928392e-02]

qacc:
[-1.77814118e-02, 2.06102567e+00,-7.16834175e+00, 9.89294497e+00,
  4.84236590e-02,-1.45577816e+00, 3.93806209e+00,-2.45288473e+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,
 -3.42759572e+00, 1.81731575e+00,-3.30724545e+00, 9.01643027e+00,
 -2.15439772e+02, 5.02667486e+01]

qfrc_actuator:
[ 2.36592929e-03, 2.74263481e-02, 8.57339805e-03, 1.66979160e-03,
 -6.82576306e-06, 2.72093386e-02, 8.78259727e-03, 1.68777282e-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: -0.0018132176945108852
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53073598e-14, -7.65367989e-15,  1.00000000e+00,  1.17157632e-28,
        1.00000000e+00,  7.65367989e-15, -1.00000000e+00,  0.00000000e+00,
        1.53073598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04931543, -0.05899227,  0.06182678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15669466e-06, 3.60137337e-05,-1.74668308e-05, 7.63954226e-06,
  8.66800313e-06,-4.14605993e-05, 1.31239309e-05, 3.99473469e-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,
  3.19917234e-03, 5.21424017e-05,-4.90512584e+00,-7.67735566e-05,
  3.08071302e-02, 7.17492907e-03]


--- Step 2787 ---
qpos:
[-2.50818469e-03, 8.65833162e-01,-2.37113670e-02, 4.08855898e-04,
 -2.93304828e-03, 8.61901159e-01,-2.71286833e-02, 3.14486009e-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,
  7.24964050e-03,-4.28335581e-02, 7.93962213e-02, 7.01261364e-01,
 -8.73211572e-02,-7.01876144e-01,-8.93162592e-02]

qacc:
[ 1.10271975e-01, 6.43019488e-01,-5.35946499e+00, 1.76642431e+01,
  4.68600702e-02,-8.40325460e-01, 4.30418281e+00,-1.00805951e+01,
  2.43179801e-01, 2.97645589e+00,-9.43098322e+00, 6.83692161e+00,
  1.12450445e-01, 8.04817155e-02, 4.66060016e+00,-1.57459837e+01,
 -3.16529744e+00, 1.65908349e+00,-3.81517043e+00, 7.64922198e+00,
 -1.98149552e+02, 4.69006169e+01]

qfrc_actuator:
[ 2.38749239e-03, 2.74295211e-02, 8.59325423e-03, 1.70839288e-03,
 -2.47052703e-06, 2.72217781e-02, 8.78867411e-03, 1.67167159e-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([ 8.63636364, -6.09341663,  6.12021655, -6.09341663, 34.6656255 ,
       25.91528191,  6.12021655, 25.91528191, 34.43816469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018327642733999283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.57205278e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.57205278e-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([ 0.04928355, -0.05898439,  0.06182524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00611228e-05, 2.00167972e-05, 2.54127630e-05, 3.96886872e-05,
  8.46464658e-06,-7.83239676e-06,-7.36155379e-07,-1.73477226e-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,
  1.16821977e-03, 4.24426955e-04,-4.90509696e+00,-7.20187891e-05,
  3.08072768e-02, 7.18332915e-03]


--- Step 2788 ---
qpos:
[-2.50815102e-03, 8.65833955e-01,-2.37120506e-02, 4.10305980e-04,
 -2.93329495e-03, 8.61899244e-01,-2.71268845e-02, 3.14430777e-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,
  7.24648123e-03,-4.28133790e-02, 7.93911369e-02, 7.01140581e-01,
 -8.77512205e-02,-7.01991364e-01,-8.89366784e-02]

qacc:
[ 1.24156978e-01,-3.59754587e+00, 1.12672482e+01,-1.04995361e+01,
 -6.23115140e-02, 4.06915501e-01, 4.25423584e+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,
 -2.94261230e+00, 1.52651277e+00,-4.25240481e+00, 6.52010922e+00,
 -1.83630031e+02, 4.40295592e+01]

qfrc_actuator:
[ 2.40038490e-03, 2.73776126e-02, 8.64119615e-03, 1.71282518e-03,
 -1.76114783e-05, 2.72301590e-02, 8.73796443e-03, 1.60868773e-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([ 8.63636364, -6.14298173,  6.07046557, -6.14298173, 36.8150804 ,
       28.51533218,  6.07046557, 28.51533218, 37.49233236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018280671869788934
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.9344806e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.9344806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04929159, -0.05899311,  0.06182572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24581825e-05,-3.37833413e-05, 5.65821918e-05, 6.94032468e-06,
 -1.11234297e-05, 3.13774149e-06,-5.30233434e-05,-6.36844248e-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,
  1.88873606e-04, 3.05913327e-04,-4.90509296e+00,-7.24803194e-05,
  3.08073309e-02, 7.18854588e-03]


--- Step 2789 ---
qpos:
[-2.50811172e-03, 8.65834468e-01,-2.37126755e-02, 4.11149088e-04,
 -2.93387730e-03, 8.61897573e-01,-2.71252839e-02, 3.14434506e-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,
  7.23231518e-03,-4.27875421e-02, 7.93675349e-02, 7.00787118e-01,
 -8.82622912e-02,-7.02340279e-01,-8.84608179e-02]

qacc:
[ 3.05807375e-03,-1.78146824e+00, 8.37980331e+00,-1.87744831e+01,
 -1.76969322e-01, 2.08865157e+00,-9.46918803e+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,
 -2.75169738e+00, 1.41447243e+00,-4.62943222e+00, 5.57791818e+00,
 -1.71422837e+02, 4.15856942e+01]

qfrc_actuator:
[ 2.39021325e-03, 2.73464730e-02, 8.63405330e-03, 1.67932373e-03,
 -4.42798743e-05, 2.72712780e-02, 8.74286357e-03, 1.64285779e-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([ 8.63636364, -6.42094543,  5.77565898, -6.42094543, 37.01025242,
       31.54396615,  5.77565898, 31.54396615, 43.70458458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018037596186176452
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53876245e-14, -1.53876245e-14,  1.00000000e+00,  2.36778986e-28,
        1.00000000e+00,  1.53876245e-14, -1.00000000e+00,  0.00000000e+00,
        1.53876245e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04933126, -0.05901501,  0.06182781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.30859435e-07,-3.80602368e-05,-6.91231629e-06,-3.28579008e-05,
 -3.19467281e-05, 2.92258197e-05,-3.18823221e-06, 3.12307811e-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,
  3.91568683e-05,-2.01815138e-04,-4.90511220e+00,-7.55340237e-05,
  3.08075851e-02, 7.19152757e-03]


--- Step 2790 ---
qpos:
[-2.50831976e-03, 8.65835626e-01,-2.37143289e-02, 4.11196030e-04,
 -2.93459624e-03, 8.61896741e-01,-2.71237192e-02, 3.14539214e-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,
  7.20780437e-03,-4.27564298e-02, 7.93241118e-02, 7.00214396e-01,
 -8.88505824e-02,-7.02908217e-01,-8.78943212e-02]

qacc:
[-1.30595309e-01, 2.08309379e+00,-2.83447127e+00,-9.76977319e+00,
 -7.21921932e-02, 3.28401736e+00,-1.43665907e+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,
 -2.58618605e+00, 1.31881221e+00,-4.95526612e+00, 4.78249838e+00,
 -1.61157014e+02, 3.95122329e+01]

qfrc_actuator:
[ 2.36633853e-03, 2.74165143e-02, 8.59447704e-03, 1.64149717e-03,
 -4.20939215e-05, 2.73674817e-02, 8.76303440e-03, 1.69849641e-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([ 8.63636364, -6.97108182,  5.09811682, -6.97108182, 33.33307561,
       33.76988128,  5.09811682, 33.76988128, 54.81274868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017637439919486742
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57367372e-14, -2.36051057e-14,  1.00000000e+00,  3.71467345e-28,
        1.00000000e+00,  2.36051057e-14, -1.00000000e+00,  0.00000000e+00,
        1.57367372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04939583, -0.05904732,  0.06183116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36264132e-05, 4.59149844e-05,-4.94261788e-05,-4.03369082e-05,
 -1.29761403e-05, 1.13248815e-04, 2.68957570e-05, 5.73886851e-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,
  5.55660364e-04,-1.02407663e-03,-4.90514984e+00,-7.93450173e-05,
  3.08081869e-02, 7.19293637e-03]


--- Step 2791 ---
qpos:
[-2.50860751e-03, 8.65837424e-01,-2.37163387e-02, 4.11432452e-04,
 -2.93517581e-03, 8.61896621e-01,-2.71221618e-02, 3.14676536e-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,
  7.18675088e-03,-4.27428882e-02, 7.92931848e-02, 6.99749087e-01,
 -8.90806979e-02,-7.03370451e-01,-8.76690004e-02]

qacc:
[-4.22275113e-02, 2.23163899e+00,-7.52914557e+00, 1.09093817e+01,
  7.31603367e-02, 1.63179663e+00,-5.83032945e+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,
  8.64328162e-01,-4.39265335e+00, 3.12403107e+00, 5.61871949e+00,
  1.05655787e+02,-2.35914148e+02]

qfrc_actuator:
[ 2.36999795e-03, 2.74754427e-02, 8.58976234e-03, 1.65476542e-03,
 -2.26601939e-05, 2.73895287e-02, 8.75677990e-03, 1.71310225e-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: -0.001817445841152468
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05434968e-14, -3.05434968e-14,  1.00000000e+00,  9.32905197e-28,
        1.00000000e+00,  3.05434968e-14, -1.00000000e+00,  0.00000000e+00,
        3.05434968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00686999, -0.02204259,  0.06182618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.60090854e-06, 7.26502065e-05,-2.71298514e-06, 1.27403321e-05,
  1.32866981e-05, 9.33904338e-05, 2.24272053e-05, 2.15026663e-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,
  1.61791140e-03,-2.10606492e-03,-4.90519928e+00,-8.26528774e-05,
  3.08091812e-02, 7.19323787e-03]


--- Step 2792 ---
qpos:
[-2.50853697e-03, 8.65839201e-01,-2.37175894e-02, 4.11832704e-04,
 -2.93537851e-03, 8.61896723e-01,-2.71204357e-02, 3.14835482e-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,
  7.16886595e-03,-4.27453865e-02, 7.92703371e-02, 6.99381830e-01,
 -8.89841848e-02,-7.03737140e-01,-8.77548246e-02]

qacc:
[ 1.88338851e-01,-1.81010168e+00, 5.72350678e+00,-4.08887090e+00,
  1.98515104e-01, 2.67092704e-01,-1.43954536e+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,
  7.92139751e-01,-4.00997879e+00, 2.01983097e+00, 5.03300552e+00,
  9.60888168e+01,-2.15178473e+02]

qfrc_actuator:
[ 2.40786179e-03, 2.74564382e-02, 8.62345661e-03, 1.66251811e-03,
  6.90087857e-06, 2.73668723e-02, 8.75240866e-03, 1.72112077e-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: -0.0018677792293185017
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.97204029e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.97204029e-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([ 0.00688743, -0.02209536,  0.0618216 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42458075e-05, 2.15779627e-05, 4.88071496e-05, 1.10190307e-05,
  3.58792529e-05, 3.51083094e-05, 1.84101161e-05, 1.32094937e-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,
  1.21852956e-03,-8.00955705e-04,-4.90506383e+00, 4.29557243e-05,
  3.08033909e-02, 7.18741169e-03]


--- Step 2793 ---
qpos:
[-2.50843194e-03, 8.65840951e-01,-2.37183307e-02, 4.11995874e-04,
 -2.93521740e-03, 8.61896741e-01,-2.71185560e-02, 3.14972432e-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,
  7.15390465e-03,-4.27626461e-02, 7.92517979e-02, 6.99104428e-01,
 -8.85872968e-02,-7.04016305e-01,-8.81267938e-02]

qacc:
[ 1.84010289e-02,-1.94606874e+00, 7.88875270e+00,-1.27885883e+01,
  1.91713070e-01,-9.92329269e-01, 4.30638481e+00,-8.29821461e+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,
  7.30908762e-01,-3.69032621e+00, 1.07711362e+00, 4.51046915e+00,
  8.81339999e+01,-1.97918100e+02]

qfrc_actuator:
[ 2.39483165e-03, 2.74443371e-02, 8.64371799e-03, 1.64915870e-03,
  2.44924822e-05, 2.73353518e-02, 8.74899429e-03, 1.70741373e-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: -0.0018887758641744148
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93900151e-14, -2.93900151e-14,  1.00000000e+00,  8.63772990e-28,
        1.00000000e+00,  2.93900151e-14, -1.00000000e+00,  0.00000000e+00,
        2.93900151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00689501, -0.02211806,  0.06181964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29842134e-06, 1.04882761e-05, 3.11071701e-05,-1.05332743e-05,
  3.46275089e-05,-7.53486256e-06, 6.54452343e-06,-1.13144901e-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,
  9.06932338e-04, 1.07154798e-04,-4.90503265e+00, 9.45588971e-05,
  3.08037559e-02, 7.18495722e-03]


--- Step 2794 ---
qpos:
[-2.50876430e-03, 8.65842036e-01,-2.37179413e-02, 4.12382801e-04,
 -2.93533507e-03, 8.61896289e-01,-2.71164903e-02, 3.15062220e-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,
  7.14885648e-03,-4.27752791e-02, 7.92509772e-02, 6.99018924e-01,
 -8.83160684e-02,-7.04102984e-01,-8.83844098e-02]

qacc:
[-2.28360698e-01,-3.57444705e+00, 1.05278314e+01,-7.97900676e+00,
 -1.46562745e-01,-2.10856201e+00, 8.61079066e+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,
  2.47828105e+00, 1.15666930e+00, 4.42964043e+00,-3.65306542e+00,
  1.24232081e+02, 1.01187268e+02]

qfrc_actuator:
[ 2.35144559e-03, 2.73831348e-02, 8.69137090e-03, 1.65897266e-03,
 -1.84931815e-05, 2.72809774e-02, 8.74610152e-03, 1.68102104e-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: -0.0018946898291054698
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19737092e-14, -5.85965580e-14,  1.00000000e+00,  1.28758373e-27,
        1.00000000e+00,  5.85965580e-14, -1.00000000e+00,  0.00000000e+00,
        2.19737092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072694, -0.04697007,  0.06181902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18153702e-05,-4.93998758e-05, 5.32786926e-05, 1.11330053e-05,
 -2.65487017e-05,-5.77340142e-05,-4.05176483e-06,-2.67146955e-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,
  6.64135893e-04, 7.06796571e-04,-4.90507866e+00, 8.46681910e-05,
  3.08086752e-02, 7.18525111e-03]


--- Step 2795 ---
qpos:
[-2.50920193e-03, 8.65842361e-01,-2.37168589e-02, 4.13618289e-04,
 -2.93585378e-03, 8.61895335e-01,-2.71144182e-02, 3.15121453e-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,
  7.15301482e-03,-4.27836468e-02, 7.92636642e-02, 6.99110980e-01,
 -8.81609718e-02,-7.04011916e-01,-8.85364453e-02]

qacc:
[-5.44472129e-02,-1.19173853e+00,-7.87475551e-01, 1.49208958e+01,
 -2.11034412e-01,-1.31052772e+00, 4.99894455e+00,-9.92909436e+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,
  2.30162731e+00, 1.06630891e+00, 3.37691088e+00,-3.43368514e+00,
  1.14839679e+02, 9.34814277e+01]

qfrc_actuator:
[ 2.36131459e-03, 2.73286257e-02, 8.71912851e-03, 1.70007728e-03,
 -4.40702390e-05, 2.72488148e-02, 8.74342804e-03, 1.66510926e-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: -0.0019019044472024932
  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([-0.0007212, -0.0469691,  0.0618184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00795506e-05,-7.06857021e-05, 2.44929420e-05, 4.10470181e-05,
 -3.81865049e-05,-6.64374722e-05,-1.60347203e-05,-1.90486809e-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,
  8.71610899e-05, 1.83227352e-04,-4.90502871e+00, 2.72106023e-05,
  3.08060182e-02, 7.18742074e-03]


--- Step 2796 ---
qpos:
[-2.50943983e-03, 8.65843088e-01,-2.37167124e-02, 4.14955158e-04,
 -2.93653287e-03, 8.61893911e-01,-2.71124437e-02, 3.15230517e-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,
  7.16579763e-03,-4.27880462e-02, 7.92863010e-02, 6.99368570e-01,
 -8.81140717e-02,-7.03755146e-01,-8.85901125e-02]

qacc:
[ 1.03988816e-01, 3.35200215e+00,-1.16121677e+01, 1.45721762e+01,
 -8.43334476e-02, 6.78062511e-01,-5.42146218e+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,
  2.15611928e+00, 9.92071536e-01, 2.48743438e+00,-3.23300601e+00,
  1.07065208e+02, 8.71031552e+01]

qfrc_actuator:
[ 2.38522684e-03, 2.73850090e-02, 8.68167637e-03, 1.70598409e-03,
 -4.12157422e-05, 2.72302009e-02, 8.74099126e-03, 1.69101385e-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: -0.0018894607440845743
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9379362e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.9379362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072983, -0.04697206,  0.06181958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90947943e-05, 2.36555730e-05,-4.76252427e-05, 4.52175726e-06,
 -1.52805327e-05,-5.98909519e-05,-1.88020360e-05, 2.21307241e-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,
  3.48201179e-05,-7.93273276e-05,-4.90500888e+00,-5.03247191e-07,
  3.08042152e-02, 7.18835603e-03]


--- Step 2797 ---
qpos:
[-2.50943256e-03, 8.65843720e-01,-2.37165639e-02, 4.15660316e-04,
 -2.93726636e-03, 8.61892445e-01,-2.71107139e-02, 3.15365231e-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,
  7.18672762e-03,-4.27887203e-02, 7.93158847e-02, 6.99781598e-01,
 -8.81687568e-02,-7.03342482e-01,-8.85513313e-02]

qacc:
[ 1.28544608e-01,-1.43189615e+00, 7.58930766e+00,-1.84558717e+01,
 -2.87750258e-02, 1.15404465e+00,-5.28013695e+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,
  2.03679503e+00, 9.31317451e-01, 1.73674616e+00,-3.04941999e+00,
  1.00636223e+02, 8.18266601e+01]

qfrc_actuator:
[ 2.39954952e-03, 2.73650494e-02, 8.67746073e-03, 1.67342733e-03,
 -3.91351760e-05, 2.72553888e-02, 8.73879801e-03, 1.70582135e-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: -0.001861334416416456
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98233089e-14, -2.98233089e-14,  1.00000000e+00,  8.89429753e-28,
        1.00000000e+00,  2.98233089e-14, -1.00000000e+00,  0.00000000e+00,
        2.98233089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074986, -0.04697813,  0.06182218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34294547e-05,-1.63918006e-05,-5.04998768e-06,-3.31073224e-05,
 -5.18067288e-06,-1.12218269e-05,-1.61187158e-05, 1.20196268e-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,
  4.02166944e-04,-1.32718823e-04,-4.90501308e+00,-3.32848836e-06,
  3.08030614e-02, 7.18823164e-03]


--- Step 2798 ---
qpos:
[-2.50940555e-03, 8.65843247e-01,-2.37154614e-02, 4.16379791e-04,
 -2.93782253e-03, 8.61890570e-01,-2.71089099e-02, 3.15553632e-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,
  7.21541544e-03,-4.27858670e-02, 7.93498842e-02, 7.00341586e-01,
 -8.83195220e-02,-7.02781868e-01,-8.84249440e-02]

qacc:
[ 1.13392055e-02,-4.09254631e+00, 1.24164793e+01,-1.28865776e+01,
  9.36056189e-02, 3.57570088e-01,-4.32516577e+00, 1.37991502e+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,
  1.93945557e+00, 8.81846528e-01, 1.10395372e+00,-2.88090526e+00,
  9.53324561e+01, 7.74702923e+01]

qfrc_actuator:
[ 2.39024048e-03, 2.72641151e-02, 8.71037595e-03, 1.67174287e-03,
 -1.98081676e-05, 2.72178557e-02, 8.73693690e-03, 1.73176574e-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: -0.001820856940251983
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04862782e-14, -3.04862782e-14,  1.00000000e+00,  9.29413158e-28,
        1.00000000e+00,  3.04862782e-14, -1.00000000e+00,  0.00000000e+00,
        3.04862782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077885, -0.04698663,  0.06182589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86006227e-06,-1.12575866e-04, 2.77542780e-05,-3.20846866e-06,
  1.68663562e-05,-4.66033315e-05,-5.75275586e-06, 2.51373533e-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,
  1.11342995e-03,-1.47736671e-05,-4.90503818e+00, 1.51563752e-05,
  3.08023714e-02, 7.18717923e-03]


--- Step 2799 ---
qpos:
[-2.50961372e-03, 8.65842451e-01,-2.37144977e-02, 4.17049211e-04,
 -2.93817140e-03, 8.61887924e-01,-2.71066588e-02, 3.15773781e-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,
  7.25149557e-03,-4.27797128e-02, 7.93863438e-02, 7.01040668e-01,
 -8.85601632e-02,-7.02080447e-01,-8.82163570e-02]

qacc:
[-1.23282049e-01,-1.42347131e-01, 9.93509627e-02,-5.06348347e-01,
  1.09753998e-01,-1.61209625e+00, 2.93118962e+00, 2.41342596e+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,
  1.84807880e+00, 8.25248243e-01, 6.15016401e-01,-2.67086002e+00,
  9.05786207e+01, 7.27331658e+01]

qfrc_actuator:
[ 2.36687977e-03, 2.72754169e-02, 8.71135911e-03, 1.67043582e-03,
 -8.09588343e-06, 2.71608259e-02, 8.75280672e-03, 1.74625665e-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: -0.0017708012854491925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72585911e-07, -1.72585986e-07,  1.00000000e+00, -2.97859096e-14,
        1.00000000e+00,  1.72585986e-07, -1.00000000e+00,  0.00000000e+00,
       -1.72585911e-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([-0.0006585 , -0.04687928,  0.06183047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24876932e-05,-4.60522624e-05,-1.89650662e-05,-5.23342094e-06,
  1.97127680e-05,-8.31708082e-05, 6.40376076e-06, 1.27816866e-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,
  2.11412376e-03, 2.46950946e-04,-4.90508313e+00, 5.23159417e-05,
  3.08019732e-02, 7.18529674e-03]


--- Step 2800 ---
qpos:
[-2.51007840e-03, 8.65841639e-01,-2.37142789e-02, 4.18045209e-04,
 -2.93834804e-03, 8.61885302e-01,-2.71050183e-02, 3.15868597e-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,
  7.27128945e-03,-4.27775541e-02, 7.94070187e-02, 7.01431844e-01,
 -8.86523683e-02,-7.01683200e-01,-8.81749032e-02]

qacc:
[-1.34928066e-01, 2.73104801e+00,-1.11480464e+01, 1.80055306e+01,
  9.02309156e-02,-8.44007846e-01, 8.34418007e+00,-2.90766192e+01,
 -2.24707011e-01, 2.41136373e+00,-6.31547470e+00, 1.90107205e+00,
  6.08737390e-02,-1.02409515e-01,-1.03788440e+01, 3.57991135e+01,
 -4.07156458e+00,-9.98889662e-01,-3.94616096e+00,-6.85812999e+00,
 -2.00758560e+02,-1.37740652e+02]

qfrc_actuator:
[ 2.35308773e-03, 2.72827102e-02, 8.67614149e-03, 1.68716648e-03,
 -1.05335466e-06, 2.71813866e-02, 8.72565474e-03, 1.68286957e-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: -0.0017738802526756914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.12936294e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.12936294e-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([ 0.05538804, -0.03517765,  0.06183039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45194571e-05,-2.25913201e-05,-4.72484246e-05, 1.39987539e-05,
  1.63897330e-05,-2.40317847e-05,-4.30979441e-05,-6.64825484e-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,
  3.35674037e-03, 6.25013869e-04,-4.90514769e+00, 1.05548646e-04,
  3.08016617e-02, 7.18269338e-03]


--- Step 2801 ---
qpos:
[-2.51037669e-03, 8.65839942e-01,-2.37138561e-02, 4.19280389e-04,
 -2.93821255e-03, 8.61883393e-01,-2.71046173e-02, 3.15778556e-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,
  7.27615571e-03,-4.27790765e-02, 7.94099843e-02, 7.01541716e-01,
 -8.86093389e-02,-7.01564739e-01,-8.82865976e-02]

qacc:
[ 8.76831398e-02,-1.24659808e+00, 1.73822313e+00, 2.72464013e+00,
  1.63240245e-01, 5.99554875e-01, 7.03299044e+00,-3.75666026e+01,
 -3.08350858e-01, 1.02967769e+00,-1.58113579e+00,-1.97664013e+00,
  7.13108718e-02, 4.20034513e-02, 4.63472781e-01,-1.01484245e+00,
 -3.73190241e+00,-9.20267848e-01,-4.42734483e+00,-6.47999876e+00,
 -1.83717257e+02,-1.25916927e+02]

qfrc_actuator:
[ 2.38065754e-03, 2.71986574e-02, 8.67312298e-03, 1.69661053e-03,
  2.08921218e-05, 2.72480161e-02, 8.67356834e-03, 1.59195217e-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: -0.0018123459400168768
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06294455e-14,  6.12588910e-14,  1.00000000e+00,  1.87632587e-27,
        1.00000000e+00, -6.12588910e-14, -1.00000000e+00,  0.00000000e+00,
       -3.06294455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05531454, -0.03519357,  0.06182714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58770192e-05,-1.05830087e-04,-1.30171299e-05, 7.11333397e-06,
  2.97243439e-05, 4.14931103e-05,-6.46546734e-05,-9.47328769e-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,
  1.03199429e-03, 4.10931091e-05,-4.90504436e+00, 4.01572495e-05,
  3.07991290e-02, 7.18166537e-03]


--- Step 2802 ---
qpos:
[-2.51023677e-03, 8.65838044e-01,-2.37136763e-02, 4.19526312e-04,
 -2.93779293e-03, 8.61881430e-01,-2.71041350e-02, 3.15649995e-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,
  7.26724865e-03,-4.27840122e-02, 7.93935759e-02, 7.01392289e-01,
 -8.84420417e-02,-7.01703362e-01,-8.85395601e-02]

qacc:
[ 2.29620585e-01,-1.62245249e+00, 9.57616205e+00,-2.61611116e+01,
  1.49684809e-01,-1.09142198e+00, 5.41332507e+00,-1.21709512e+01,
  1.21335419e-01, 2.05325197e+00,-7.49676182e+00, 1.25959661e+01,
  5.19579545e-02, 2.46153479e-01, 1.44635154e+01,-4.91932198e+01,
 -3.44333121e+00,-8.53335485e-01,-4.84350046e+00,-6.10444765e+00,
 -1.69390586e+02,-1.15979996e+02]

qfrc_actuator:
[ 2.41497155e-03, 2.72204464e-02, 8.67102040e-03, 1.64838149e-03,
  3.38179306e-05, 2.72350710e-02, 8.67840511e-03, 1.57437629e-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: -0.0018224676848435373
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52296668e-14, -3.04593336e-14,  1.00000000e+00,  4.63885502e-28,
        1.00000000e+00,  3.04593336e-14, -1.00000000e+00,  0.00000000e+00,
        1.52296668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05529513, -0.03519896,  0.06182626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18749849e-05,-3.97353174e-05,-2.53092647e-05,-5.30746934e-05,
  2.70434448e-05,-7.10655027e-06, 2.17404866e-06,-1.98770002e-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,
  7.74044306e-05,-6.30087389e-05,-4.90498499e+00, 1.10889508e-05,
  3.07943108e-02, 7.18402155e-03]


--- Step 2803 ---
qpos:
[-2.51023301e-03, 8.65835923e-01,-2.37135998e-02, 4.19530414e-04,
 -2.93734686e-03, 8.61878799e-01,-2.71030785e-02, 3.15574888e-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,
  7.24648818e-03,-4.27830283e-02, 7.93607939e-02, 7.00984411e-01,
 -8.83692825e-02,-7.02101617e-01,-8.86850896e-02]

qacc:
[-7.13888441e-02,-5.04624720e-01, 2.39140285e+00,-6.24725125e+00,
  1.45621872e-02,-1.38391089e+00, 1.40019586e+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,
 -2.96335273e+00, 1.47992408e+00,-4.09338840e+00, 4.60377156e+00,
 -1.90665712e+02, 4.79223780e+01]

qfrc_actuator:
[ 2.38198315e-03, 2.72166465e-02, 8.66983268e-03, 1.63769188e-03,
  2.34824584e-05, 2.71748642e-02, 8.69881816e-03, 1.60008140e-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([  8.63636364,  -2.70762394,  -8.20094808,  -2.70762394,
        84.81466591, -25.15101828,  -8.20094808, -25.15101828,
        16.94022053,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018190894803045213
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.8144874e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.8144874e-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([ 0.04930194, -0.05901638,  0.06182645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30207123e-05,-3.34717947e-05,-1.43369303e-05,-1.42992592e-05,
  2.50153341e-06,-6.45346056e-05, 1.85386127e-05, 2.50928369e-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,
  1.89943371e-04, 2.04201783e-04,-4.90496224e+00, 8.75221973e-06,
  3.07877907e-02, 7.18917268e-03]


--- Step 2804 ---
qpos:
[-2.51068593e-03, 8.65832829e-01,-2.37132506e-02, 4.20167602e-04,
 -2.93714202e-03, 8.61875943e-01,-2.71022069e-02, 3.15565335e-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,
  7.21465945e-03,-4.27765339e-02, 7.93100232e-02, 7.00335814e-01,
 -8.83845651e-02,-7.02740906e-01,-8.87306911e-02]

qacc:
[-2.38891396e-01,-7.42451127e-01,-1.88864146e+00, 1.31225369e+01,
 -1.27045956e-01, 1.56596439e+00,-8.78533598e+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,
 -2.76706221e+00, 1.37760762e+00,-4.49718601e+00, 4.27385513e+00,
 -1.77304718e+02, 4.46070569e+01]

qfrc_actuator:
[ 2.34451768e-03, 2.71265861e-02, 8.66915139e-03, 1.66692683e-03,
 -6.65757065e-07, 2.71756978e-02, 8.69254619e-03, 1.63323680e-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: -0.0018016418462631772
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54057121e-14, -2.31085682e-14,  1.00000000e+00,  3.56003949e-28,
        1.00000000e+00,  2.31085682e-14, -1.00000000e+00,  0.00000000e+00,
        1.54057121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04932562, -0.05902846,  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:
[-4.36735947e-05,-1.12302636e-04,-9.83932220e-06, 2.70298475e-05,
 -2.29692888e-05,-3.02929431e-05,-1.64337459e-05, 3.15244809e-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,
  1.10726877e-03, 1.57244365e-04,-4.90502644e+00, 1.64171013e-05,
  3.07924699e-02, 7.19497603e-03]


--- Step 2805 ---
qpos:
[-2.51121582e-03, 8.65829914e-01,-2.37133562e-02, 4.20707052e-04,
 -2.93701684e-03, 8.61873195e-01,-2.71018577e-02, 3.15593598e-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,
  7.19400272e-03,-4.27657228e-02, 7.92825741e-02, 6.99895583e-01,
 -8.85373861e-02,-7.03170730e-01,-8.86466432e-02]

qacc:
[-4.07003638e-02, 1.30508255e+00,-3.89844951e+00, 2.80419596e+00,
 -4.22960729e-02, 2.38015515e+00,-9.87534473e+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,
  2.79299767e+00, 1.07916458e+00, 5.83041078e+00,-2.69133973e+00,
  1.34730299e+02, 1.12226968e+02]

qfrc_actuator:
[ 2.35799884e-03, 2.71986393e-02, 8.66843936e-03, 1.66608044e-03,
  2.66075209e-06, 2.71952289e-02, 8.67079264e-03, 1.65277493e-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: -0.0018121389488786018
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.15476637e-07, -7.15476633e-07,  1.00000000e+00, -5.11906815e-13,
        1.00000000e+00,  7.15476633e-07, -1.00000000e+00,  0.00000000e+00,
       -7.15476637e-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([-0.00063044, -0.04685109,  0.06182652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.35198731e-06, 8.44674815e-06,-2.41613394e-05,-5.46759604e-06,
 -7.58104249e-06, 6.07262674e-07,-2.89273131e-05, 1.82887894e-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,
  2.65940820e-03,-2.66958576e-04,-4.90510595e+00, 1.87422457e-05,
  3.07971925e-02, 7.19962042e-03]


--- Step 2806 ---
qpos:
[-2.51132389e-03, 8.65828534e-01,-2.37141450e-02, 4.20034741e-04,
 -2.93672208e-03, 8.61870761e-01,-2.71018723e-02, 3.15572229e-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,
  7.18366597e-03,-4.27507780e-02, 7.92732492e-02, 6.99647940e-01,
 -8.88187122e-02,-7.03407415e-01,-8.84421019e-02]

qacc:
[ 2.20119313e-01, 1.44095533e+00, 2.91861269e+00,-2.39230300e+01,
  8.89363321e-02, 4.07019503e-01, 1.24254571e+00,-9.47943205e+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,
  2.57999448e+00, 1.03344191e+00, 4.53106262e+00,-2.64140683e+00,
  1.24269833e+02, 1.04433063e+02]

qfrc_actuator:
[ 2.40185093e-03, 2.73671983e-02, 8.66832728e-03, 1.61215757e-03,
  2.24070049e-05, 2.72257336e-02, 8.65791430e-03, 1.62865259e-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: -0.001848450281276795
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00311844e-14,  3.00311844e-14,  1.00000000e+00, -9.01872036e-28,
        1.00000000e+00, -3.00311844e-14, -1.00000000e+00,  0.00000000e+00,
        3.00311844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007608 , -0.04695812,  0.06182318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03538676e-05, 1.68127294e-04,-1.51018301e-06,-5.44997580e-05,
  1.61477029e-05, 2.57151743e-05,-1.56653934e-05,-2.47382103e-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,
  1.13921637e-03,-4.63035360e-04,-4.90508212e+00,-3.17043117e-06,
  3.08038374e-02, 7.19652392e-03]


--- Step 2807 ---
qpos:
[-2.51132914e-03, 8.65828536e-01,-2.37156263e-02, 4.19430528e-04,
 -2.93641116e-03, 8.61868601e-01,-2.71020972e-02, 3.15556041e-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,
  7.18286727e-03,-4.27319391e-02, 7.92777805e-02, 6.99578387e-01,
 -8.92188301e-02,-7.03465556e-01,-8.81265643e-02]

qacc:
[ 5.29921004e-02, 3.89795674e+00,-1.15390701e+01, 1.28132820e+01,
  8.27998042e-03, 1.05661477e+00,-3.45962553e+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,
  2.38451325e+00, 9.73507726e-01, 3.46402204e+00,-2.50486408e+00,
  1.14911384e+02, 9.64129983e+01]

qfrc_actuator:
[ 2.39244706e-03, 2.74324592e-02, 8.63348023e-03, 1.61630510e-03,
  1.62824765e-05, 2.72448228e-02, 8.65041140e-03, 1.63231509e-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: -0.0018597985317269083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.73099225e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.73099225e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075307, -0.04695338,  0.06182215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.86319349e-06, 1.56673220e-04,-2.17817232e-06, 1.02401841e-05,
  1.54452532e-06, 2.92342225e-05,-4.95890188e-06, 3.74415858e-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,
  3.04288441e-04,-3.75868363e-04,-4.90509341e+00, 9.58749203e-06,
  3.08104863e-02, 7.19264744e-03]


--- Step 2808 ---
qpos:
[-2.51190210e-03, 8.65829391e-01,-2.37179148e-02, 4.19647835e-04,
 -2.93594606e-03, 8.61866573e-01,-2.71021294e-02, 3.15612437e-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,
  7.18463199e-03,-4.27278459e-02, 7.92860090e-02, 6.99599419e-01,
 -8.93229961e-02,-7.03436024e-01,-8.80898137e-02]

qacc:
[-2.98410123e-01, 5.07196667e+00,-1.99171638e+01, 3.48021017e+01,
  8.13183363e-02, 1.12982257e+00,-6.83970274e+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,
  6.40855070e-01,-3.68639932e+00, 9.24317034e-01, 5.63994564e+00,
  8.80058301e+01,-1.93710140e+02]

qfrc_actuator:
[ 2.33348725e-03, 2.74352809e-02, 8.57807472e-03, 1.65449970e-03,
  3.02263326e-05, 2.72569752e-02, 8.66387843e-03, 1.67005151e-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: -0.0018744417491562762
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96147646e-14, -2.96147646e-14,  1.00000000e+00,  8.77034285e-28,
        1.00000000e+00,  2.96147646e-14, -1.00000000e+00,  0.00000000e+00,
        2.96147646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00691111, -0.02208498,  0.06182092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42365850e-05, 9.04330145e-05,-2.29490734e-05, 4.50329823e-05,
  1.46806482e-05, 2.76897008e-05, 1.90423830e-05, 3.88938678e-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,
  1.88934468e-05,-6.23478838e-05,-4.90513076e+00, 5.13196029e-05,
  3.08170168e-02, 7.18805766e-03]


--- Step 2809 ---
qpos:
[-2.51292425e-03, 8.65831169e-01,-2.37205346e-02, 4.18898684e-04,
 -2.93494992e-03, 8.61865136e-01,-2.71018780e-02, 3.15637925e-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,
  7.18882895e-03,-4.27374388e-02, 7.92948585e-02, 6.99704293e-01,
 -8.91525350e-02,-7.03325448e-01,-8.83121894e-02]

qacc:
[-2.36088538e-01, 1.54747584e-01, 5.29618213e+00,-2.21697833e+01,
  2.79626121e-01,-6.47874468e-01, 4.74751557e+00,-1.09853206e+01,
 -3.39981280e-01,-3.38035285e-01, 6.77891112e-01, 1.63570196e+00,
  2.68352368e-02,-6.34326000e-01,-5.23077306e+00, 1.82904080e+01,
  6.08058084e-01,-3.42153365e+00, 1.55256288e-01, 5.10003683e+00,
  8.15071239e+01,-1.79921230e+02]

qfrc_actuator:
[ 2.31643381e-03, 2.74893775e-02, 8.56398372e-03, 1.60582610e-03,
  7.38193596e-05, 2.73182563e-02, 8.68960861e-03, 1.65652702e-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: -0.0018704007617977025
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.93574942e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.93574942e-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([ 0.00691166, -0.02207939,  0.06182133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29047862e-05, 1.01846353e-04, 3.32954115e-06,-4.47146705e-05,
  5.05644726e-05, 8.24132078e-05, 3.51565117e-05,-1.09200804e-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,
  1.51083250e-05, 1.34921152e-05,-4.90501608e+00, 7.31067402e-05,
  3.08049089e-02, 7.18489467e-03]


--- Step 2810 ---
qpos:
[-2.51407486e-03, 8.65833922e-01,-2.37231089e-02, 4.17538932e-04,
 -2.93343448e-03, 8.61864464e-01,-2.71016361e-02, 3.15543141e-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,
  7.19534351e-03,-4.27598356e-02, 7.93017087e-02, 6.99887107e-01,
 -8.87252071e-02,-7.03139010e-01,-8.87772909e-02]

qacc:
[-6.76929205e-02,-9.66409915e-02, 4.79033829e+00,-1.61466958e+01,
  2.73149790e-01,-1.43766891e+00, 1.16708198e+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,
  5.79402234e-01,-3.20098260e+00,-4.99845608e-01, 4.63240779e+00,
  7.61111658e+01,-1.68425442e+02]

qfrc_actuator:
[ 2.32463275e-03, 2.75560760e-02, 8.57452850e-03, 1.57750148e-03,
  9.92580981e-05, 2.73552454e-02, 8.68702333e-03, 1.59523793e-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: -0.001847954328424009
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.00392441e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.00392441e-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([ 0.00690586, -0.02205564,  0.06182335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22481491e-05, 1.22397724e-04, 3.04509004e-05,-2.47138063e-05,
  4.94513368e-05, 8.99038612e-05, 1.83972060e-05,-5.67537406e-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,
  4.91096061e-05,-1.17314115e-04,-4.90497689e+00, 4.40677364e-05,
  3.07980876e-02, 7.18428131e-03]


--- Step 2811 ---
qpos:
[-2.51541527e-03, 8.65837091e-01,-2.37250948e-02, 4.16919896e-04,
 -2.93189478e-03, 8.61864383e-01,-2.71013861e-02, 3.15412347e-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,
  7.21080510e-03,-4.27783840e-02, 7.93193771e-02, 7.00238271e-01,
 -8.84090067e-02,-7.02783244e-01,-8.91399059e-02]

qacc:
[-9.92527076e-02, 4.32881030e-01,-3.86926438e+00, 1.54400371e+01,
  1.25503179e-02, 1.70129801e-02, 2.59208428e+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,
  2.23675624e+00, 9.62096233e-01, 2.70455264e+00,-2.90512614e+00,
  1.08962278e+02, 8.99181365e+01]

qfrc_actuator:
[ 2.31233680e-03, 2.75589042e-02, 8.59961041e-03, 1.61467486e-03,
  7.80983152e-05, 2.73772486e-02, 8.68538104e-03, 1.57731788e-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: -0.0018285727444090141
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.0715278e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.0715278e-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([-0.00077706, -0.04695413,  0.06182508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81250241e-05, 7.64589409e-05, 5.32587861e-05, 4.29915103e-05,
  2.32615963e-06, 7.36652964e-05, 1.72317537e-05,-1.45353519e-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,
  1.13017880e-04,-4.13890977e-04,-4.90499853e+00,-2.91306562e-05,
  3.07953454e-02, 7.18580114e-03]


--- Step 2812 ---
qpos:
[-2.51635912e-03, 8.65839695e-01,-2.37259751e-02, 4.17188137e-04,
 -2.93048357e-03, 8.61864770e-01,-2.71005295e-02, 3.15223956e-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,
  7.23468751e-03,-4.27933106e-02, 7.93447460e-02, 7.00747446e-01,
 -8.81966826e-02,-7.02268297e-01,-8.94069401e-02]

qacc:
[ 2.08858692e-01,-2.00938273e+00, 2.33490358e+00, 1.16660051e+01,
 -6.74843612e-02,-2.25972628e+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,
  2.10520569e+00, 9.05460107e-01, 1.92513145e+00,-2.89263717e+00,
  1.02401298e+02, 8.40450187e+01]

qfrc_actuator:
[ 2.35886717e-03, 2.74703196e-02, 8.63285355e-03, 1.65453471e-03,
  6.47720102e-05, 2.74078811e-02, 8.71979618e-03, 1.54955244e-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: -0.0018076747023815926
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07085955e-14,  3.07085955e-14,  1.00000000e+00, -9.43017838e-28,
        1.00000000e+00, -3.07085955e-14, -1.00000000e+00,  0.00000000e+00,
        3.07085955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00079232, -0.04695758,  0.061827  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78907322e-05,-3.30470013e-05, 5.70766731e-05, 4.58148753e-05,
 -1.22130814e-05, 7.47628015e-05, 5.12495748e-05,-2.42945693e-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,
  6.30111144e-04,-7.79630707e-04,-4.90500067e+00,-7.03392642e-05,
  3.07948550e-02, 7.18523251e-03]


--- Step 2813 ---
qpos:
[-2.51607752e-03, 8.65842631e-01,-2.37272194e-02, 4.17228931e-04,
 -2.92903591e-03, 8.61865526e-01,-2.70994730e-02, 3.15007872e-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,
  7.24469156e-03,-4.28011908e-02, 7.93570492e-02, 7.00962385e-01,
 -8.80890186e-02,-7.02048778e-01,-8.95520710e-02]

qacc:
[ 6.42126646e-01, 9.87617439e-01,-1.92468483e+00,-1.67192291e+00,
  1.91745191e-02,-6.41138887e-01, 4.16183697e+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,
 -3.46958952e+00, 1.76157981e+00,-3.26643048e+00, 6.36555208e+00,
 -2.16880796e+02, 5.32802028e+01]

qfrc_actuator:
[ 2.45793552e-03, 2.75052306e-02, 8.61698285e-03, 1.64230569e-03,
  7.40414686e-05, 2.74080722e-02, 8.72198596e-03, 1.53399232e-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: -0.0018058070777564397
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07403553e-14,  2.30552665e-14,  1.00000000e+00, -7.08727084e-28,
        1.00000000e+00, -2.30552665e-14, -1.00000000e+00,  0.00000000e+00,
        3.07403553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04930486, -0.05904686,  0.0618273 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17125612e-04, 3.01336803e-05,-1.40921213e-05,-1.07808514e-05,
  3.48082137e-06, 5.15255344e-05, 2.30969856e-05,-1.10553275e-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,
  1.49606092e-03,-9.47172405e-04,-4.90502569e+00,-8.87056846e-05,
  3.07945587e-02, 7.18378842e-03]


--- Step 2814 ---
qpos:
[-2.51478446e-03, 8.65846309e-01,-2.37285621e-02, 4.16360548e-04,
 -2.92751891e-03, 8.61867029e-01,-2.70988604e-02, 3.14843511e-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,
  7.24190309e-03,-4.28026137e-02, 7.93542243e-02, 7.00907122e-01,
 -8.80782347e-02,-7.02101088e-01,-8.95851156e-02]

qacc:
[ 5.29926897e-01,-6.16270024e-01, 7.45778843e+00,-2.35801466e+01,
  3.60002317e-02, 3.29037697e+00,-1.24835296e+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,
 -3.19813007e+00, 1.61434983e+00,-3.78200542e+00, 5.66092785e+00,
 -1.99393191e+02, 4.92202521e+01]

qfrc_actuator:
[ 2.49877599e-03, 2.75780609e-02, 8.62592926e-03, 1.59958317e-03,
  7.90022133e-05, 2.74609215e-02, 8.70500470e-03, 1.56119201e-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: -0.0018268346912321959
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55797819e-14, -3.79831516e-14,  1.00000000e+00,  1.73126377e-27,
        1.00000000e+00,  3.79831516e-14, -1.00000000e+00,  0.00000000e+00,
        4.55797819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04926973, -0.05903383,  0.06182554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66887281e-05, 8.62619488e-05, 1.30456076e-05,-4.21336683e-05,
  6.61923937e-06, 8.59349735e-05,-3.88789342e-06, 2.99916558e-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,
  2.62903998e-04,-2.00850525e-04,-4.90499754e+00,-7.01073709e-05,
  3.07960570e-02, 7.18758480e-03]


--- Step 2815 ---
qpos:
[-2.51332162e-03, 8.65849951e-01,-2.37289177e-02, 4.14665892e-04,
 -2.92613099e-03, 8.61869008e-01,-2.70983857e-02, 3.14748924e-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,
  7.22724715e-03,-4.27980760e-02, 7.93344938e-02, 7.00601524e-01,
 -8.81577085e-02,-7.02405091e-01,-8.95143086e-02]

qacc:
[ 8.96072551e-02,-4.50560240e+00, 1.94836083e+01,-3.53388158e+01,
 -6.81923086e-02, 2.44691920e+00,-1.07610731e+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,
 -2.96686704e+00, 1.49014028e+00,-4.22642650e+00, 5.07548949e+00,
 -1.84703138e+02, 4.57827609e+01]

qfrc_actuator:
[ 2.46889829e-03, 2.75488317e-02, 8.66739847e-03, 1.55708988e-03,
  6.35776270e-05, 2.74738283e-02, 8.69483724e-03, 1.59561157e-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: -0.0018232048106204407
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52235094e-14, -2.28352641e-14,  1.00000000e+00,  3.47632859e-28,
        1.00000000e+00,  2.28352641e-14, -1.00000000e+00,  0.00000000e+00,
        1.52235094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04927508, -0.0590385 ,  0.06182584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62311741e-05, 1.98299999e-05, 5.94148879e-05,-3.91705423e-05,
 -1.22723480e-05, 6.14038744e-05, 8.12498768e-06, 3.85492453e-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,
  2.09440567e-05, 5.52344019e-06,-4.90499963e+00,-6.09196501e-05,
  3.07975038e-02, 7.18972362e-03]


--- Step 2816 ---
qpos:
[-2.51178673e-03, 8.65852949e-01,-2.37281331e-02, 4.12543468e-04,
 -2.92527954e-03, 8.61871325e-01,-2.70984935e-02, 3.14666695e-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,
  7.20151968e-03,-4.27880007e-02, 7.92963226e-02, 7.00062000e-01,
 -8.83218030e-02,-7.02943559e-01,-8.93465640e-02]

qacc:
[ 3.86958296e-02,-4.91325613e+00, 1.80935719e+01,-2.68522036e+01,
 -2.83017746e-01, 2.32756920e+00,-8.17272267e+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,
 -2.76788408e+00, 1.38439681e+00,-4.61015050e+00, 4.58477453e+00,
 -1.72349398e+02, 4.28714743e+01]

qfrc_actuator:
[ 2.46803728e-03, 2.74766018e-02, 8.70958260e-03, 1.53276753e-03,
  1.83398854e-05, 2.74627436e-02, 8.65312430e-03, 1.59847038e-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: -0.0017996167607353328
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08460959e-14, -1.54230480e-14,  1.00000000e+00,  4.75740817e-28,
        1.00000000e+00,  1.54230480e-14, -1.00000000e+00,  0.00000000e+00,
        3.08460959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04931257, -0.05905724,  0.06182778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87369412e-06,-5.06302692e-05, 5.22195530e-05,-2.21818426e-05,
 -5.10565159e-05, 2.65289826e-05,-2.67139730e-05, 6.51870005e-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,
  5.58275309e-04,-2.14597499e-04,-4.90502645e+00,-5.75962345e-05,
  3.07990742e-02, 7.19061305e-03]


--- Step 2817 ---
qpos:
[-2.51004387e-03, 8.65854670e-01,-2.37264690e-02, 4.10938281e-04,
 -2.92515461e-03, 8.61873934e-01,-2.70990489e-02, 3.14519228e-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,
  7.18649399e-03,-4.27729925e-02, 7.92784712e-02, 6.99722689e-01,
 -8.86155589e-02,-7.03280495e-01,-8.90616975e-02]

qacc:
[ 1.10060133e-01,-3.07850771e+00, 6.34554163e+00, 2.13524695e+00,
 -3.83049043e-01, 2.93581376e-01, 2.26777134e+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,
  2.67544691e+00, 1.23323009e+00, 5.07993924e+00,-4.38191906e+00,
  1.29947217e+02, 1.04412606e+02]

qfrc_actuator:
[ 2.48461613e-03, 2.73614399e-02, 8.73389511e-03, 1.55478502e-03,
 -2.65740869e-05, 2.74727152e-02, 8.62848920e-03, 1.56493516e-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: -0.0018372487105323895
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.02142823e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.02142823e-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([-0.00077142, -0.04695361,  0.06182425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98434680e-05,-1.33715135e-04, 1.94939735e-05, 2.12213654e-05,
 -6.91467157e-05, 1.95084707e-05,-2.22376374e-05,-3.31978620e-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,
  1.71975341e-03,-7.77626495e-04,-4.90507033e+00,-5.76000435e-05,
  3.08008343e-02, 7.19053494e-03]


--- Step 2818 ---
qpos:
[-2.50847809e-03, 8.65855889e-01,-2.37250491e-02, 4.09933891e-04,
 -2.92546694e-03, 8.61876130e-01,-2.70993719e-02, 3.14406209e-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,
  7.18132118e-03,-4.27534532e-02, 7.92763268e-02, 6.99567798e-01,
 -8.90292567e-02,-7.03432030e-01,-8.86682917e-02]

qacc:
[-9.27807824e-02, 1.25504517e+00,-7.97405100e+00, 1.91321496e+01,
 -2.29967406e-01,-4.85310556e-01,-5.15290051e-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,
  2.46321706e+00, 1.13277900e+00, 3.92674976e+00,-3.88108670e+00,
  1.19563864e+02, 9.65772152e+01]

qfrc_actuator:
[ 2.45823625e-03, 2.73634315e-02, 8.72953664e-03, 1.58607988e-03,
 -3.53838955e-05, 2.74242211e-02, 8.63195146e-03, 1.58130059e-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: -0.001858762179916297
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.97291594e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.97291594e-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([-0.0007561 , -0.04695039,  0.06182227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69390519e-05,-6.78968915e-05,-2.88642667e-05, 2.66514558e-05,
 -4.16302551e-05,-4.36646568e-05, 3.58914903e-06, 1.57853752e-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,
  5.91708866e-04,-6.50842529e-04,-4.90505480e+00,-4.28257330e-05,
  3.08036419e-02, 7.19015168e-03]


--- Step 2819 ---
qpos:
[-2.50716796e-03, 8.65857074e-01,-2.37239963e-02, 4.10295511e-04,
 -2.92566518e-03, 8.61877507e-01,-2.70991174e-02, 3.14282040e-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,
  7.18530075e-03,-4.27297087e-02, 7.92859864e-02, 6.99584057e-01,
 -8.95547817e-02,-7.03411355e-01,-8.81734238e-02]

qacc:
[-1.34183925e-01, 3.79286914e+00,-1.93540152e+01, 4.36087263e+01,
  6.07385677e-02,-2.92284107e+00, 9.32361708e+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,
  2.28809783e+00, 1.05128706e+00, 2.95100160e+00,-3.44563602e+00,
  1.10958278e+02, 9.00748800e+01]

qfrc_actuator:
[ 2.44188825e-03, 2.73999455e-02, 8.72650008e-03, 1.65815596e-03,
 -4.77723201e-06, 2.73589887e-02, 8.65177125e-03, 1.57361260e-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: -0.0018581462228115589
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49372397e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.49372397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075682, -0.04695143,  0.06182233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44368516e-05,-6.31622586e-06,-1.97131672e-05, 6.86849366e-05,
  1.08392581e-05,-8.82845770e-05, 1.17779175e-05,-9.12750823e-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,
  7.42550537e-05,-2.99599632e-04,-4.90507113e+00, 1.72990429e-06,
  3.08070933e-02, 7.18835731e-03]


--- Step 2820 ---
qpos:
[-2.50590053e-03, 8.65858140e-01,-2.37227294e-02, 4.11832820e-04,
 -2.92561629e-03, 8.61878391e-01,-2.70984348e-02, 3.14146500e-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,
  7.19207805e-03,-4.27205250e-02, 7.92996839e-02, 6.99690199e-01,
 -8.97806472e-02,-7.03303239e-01,-8.79637081e-02]

qacc:
[-2.21533859e-02, 1.66366200e+00,-1.11243469e+01, 3.12176576e+01,
  1.30583038e-01,-2.08039764e+00, 6.95281632e+00,-9.24484025e+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,
  6.99431970e-01,-3.64018032e+00, 1.00945852e+00, 4.69862749e+00,
  8.81779429e+01,-1.97257908e+02]

qfrc_actuator:
[ 2.44946142e-03, 2.74036469e-02, 8.74222995e-03, 1.71818999e-03,
  1.35976022e-05, 2.73552953e-02, 8.68096744e-03, 1.56956339e-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: -0.001875039958985622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96053164e-14, -5.92106328e-14,  1.00000000e+00,  1.75294952e-27,
        1.00000000e+00,  5.92106328e-14, -1.00000000e+00,  0.00000000e+00,
        2.96053164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00692244, -0.02208935,  0.06182093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.08409377e-06,-1.00233998e-06, 1.43551820e-05, 6.04144300e-05,
  2.35092931e-05,-5.10504277e-05, 1.20872417e-05,-7.60190823e-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,
  4.13768684e-05, 2.29938292e-04,-4.90511220e+00, 7.11253625e-05,
  3.08108746e-02, 7.18542328e-03]


--- Step 2821 ---
qpos:
[-2.50442537e-03, 8.65859454e-01,-2.37211086e-02, 4.13329035e-04,
 -2.92533618e-03, 8.61879291e-01,-2.70976558e-02, 3.14037332e-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,
  7.20147771e-03,-4.27248882e-02, 7.93143074e-02, 6.99879870e-01,
 -8.97289131e-02,-7.03114279e-01,-8.80181841e-02]

qacc:
[ 1.09045457e-01,-7.45816245e-01, 3.30801596e+00,-4.76811279e+00,
  1.21848405e-01, 2.95213066e-01,-2.13432514e+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,
  6.55588318e-01,-3.38674921e+00, 2.31520790e-01, 4.40729058e+00,
  8.17249759e+01,-1.82741618e+02]

qfrc_actuator:
[ 2.47127661e-03, 2.74410187e-02, 8.76878533e-03, 1.71738481e-03,
  2.44546805e-05, 2.73885272e-02, 8.69795527e-03, 1.58549688e-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: -0.001873987189917048
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.88658442e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.88658442e-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([ 0.00692244, -0.02208802,  0.06182112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98632184e-05, 4.23233259e-05, 3.01864715e-05, 8.18757211e-07,
  2.20105701e-05, 6.83479069e-06, 7.66011896e-06, 1.40163081e-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,
  1.12036644e-04, 1.68196518e-04,-4.90502476e+00, 1.05551292e-04,
  3.08041088e-02, 7.18375428e-03]


--- Step 2822 ---
qpos:
[-2.50309326e-03, 8.65861138e-01,-2.37191949e-02, 4.14101151e-04,
 -2.92488042e-03, 8.61879989e-01,-2.70968347e-02, 3.13882184e-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,
  7.21335066e-03,-4.27419528e-02, 7.93272067e-02, 7.00147483e-01,
 -8.94179444e-02,-7.02849640e-01,-8.83194055e-02]

qacc:
[-7.49763198e-02,-1.81867125e+00, 1.02519617e+01,-2.35256744e+01,
  9.25724990e-02,-1.33033406e+00, 6.29776830e+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,
  6.18323458e-01,-3.17532101e+00,-4.31055230e-01, 4.13778091e+00,
  7.63626245e+01,-1.70656462e+02]

qfrc_actuator:
[ 2.44814576e-03, 2.74627677e-02, 8.78385786e-03, 1.68082261e-03,
  3.07181423e-05, 2.73548385e-02, 8.69002590e-03, 1.55983015e-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: -0.0018539797363453375
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.9941617e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.9941617e-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([ 0.00691619, -0.02206764,  0.06182295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36585534e-05, 5.16382442e-05, 2.75344551e-05,-3.36956911e-05,
  1.67123955e-05,-2.77077786e-05,-5.10080233e-06,-2.48372032e-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,
  2.13551524e-04,-9.02305503e-05,-4.90500804e+00, 8.83207856e-05,
  3.08017659e-02, 7.18437793e-03]


--- Step 2823 ---
qpos:
[-2.50235078e-03, 8.65863312e-01,-2.37176974e-02, 4.14117773e-04,
 -2.92467774e-03, 8.61880162e-01,-2.70962384e-02, 3.13738165e-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,
  7.22756965e-03,-4.27710115e-02, 7.93361231e-02, 7.00488103e-01,
 -8.88630238e-02,-7.02513310e-01,-8.88528598e-02]

qacc:
[-3.09608220e-01, 2.55077139e-01, 3.21971041e+00,-1.59891659e+01,
 -1.33227344e-01, 1.63647004e-01,-2.05995714e+00, 4.73193902e+00,
 -2.32059008e-02, 4.51396116e-01,-8.90673007e-01, 2.38948811e+00,
 -2.67832840e-02, 9.41934246e-02, 8.82635388e+00,-3.02514720e+01,
  5.86511033e-01,-2.99854678e+00,-9.95727725e-01, 3.88699573e+00,
  7.19096121e+01,-1.60600197e+02]

qfrc_actuator:
[ 2.39831496e-03, 2.74749213e-02, 8.75645492e-03, 1.64125827e-03,
 -1.31672986e-06, 2.72989619e-02, 8.66716185e-03, 1.56307921e-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: -0.0018188457692069199
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10399762e-14, -3.05199881e-14,  1.00000000e+00,  1.86293935e-27,
        1.00000000e+00,  3.05199881e-14, -1.00000000e+00,  0.00000000e+00,
        6.10399762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00690499, -0.02203223,  0.06182609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63423068e-05, 4.52115058e-05,-1.45420565e-05,-3.70618345e-05,
 -2.41044743e-05,-7.35062998e-05,-3.00844403e-05, 1.40190735e-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,
  3.39755035e-04,-5.06612122e-04,-4.90504928e+00, 2.63198282e-05,
  3.08029627e-02, 7.18696747e-03]


--- Step 2824 ---
qpos:
[-2.50201599e-03, 8.65865896e-01,-2.37165900e-02, 4.14705087e-04,
 -2.92479643e-03, 8.61879971e-01,-2.70957410e-02, 3.13665325e-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,
  7.24964066e-03,-4.27969884e-02, 7.93559144e-02, 7.00981968e-01,
 -8.83943516e-02,-7.02021935e-01,-8.93080113e-02]

qacc:
[-2.14101499e-01, 2.80517302e+00,-1.16261600e+01, 2.18276157e+01,
 -1.69146120e-01, 1.25911283e+00,-8.19346636e+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,
  1.96300306e+00, 7.70457852e-01, 2.71872865e+00,-2.78280618e+00,
  1.00821150e+02, 7.14174090e+01]

qfrc_actuator:
[ 2.38622590e-03, 2.74988020e-02, 8.73966381e-03, 1.67122420e-03,
 -2.04668875e-05, 2.73011869e-02, 8.67109249e-03, 1.60104322e-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: -0.0017795394183078503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.67911674e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.67911674e-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([ 0.00076682, -0.04578499,  0.06182956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89548475e-05, 4.44992871e-05,-1.05564477e-05, 3.06730744e-05,
 -3.06012396e-05,-4.50407426e-05,-1.49120750e-05, 3.38025390e-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,
  4.86278590e-04,-1.05295616e-03,-4.90513971e+00,-7.52878047e-05,
  3.08069682e-02, 7.19125812e-03]


--- Step 2825 ---
qpos:
[-2.50195038e-03, 8.65868780e-01,-2.37156851e-02, 4.15992866e-04,
 -2.92518601e-03, 8.61879885e-01,-2.70954366e-02, 3.13633038e-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,
  7.25714826e-03,-4.28159448e-02, 7.93635806e-02, 7.01172416e-01,
 -8.80406630e-02,-7.01834193e-01,-8.96373223e-02]

qacc:
[-1.41321122e-01, 2.40303928e+00,-1.09505505e+01, 2.31780784e+01,
 -1.42798614e-01, 1.51173276e+00,-6.90125324e+00, 1.41525978e+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,
 -3.64085024e+00, 1.75510978e+00,-3.03128825e+00, 4.01889356e+00,
 -2.23619556e+02, 5.74980239e+01]

qfrc_actuator:
[ 2.37908317e-03, 2.75118510e-02, 8.72938029e-03, 1.70637906e-03,
 -3.17166782e-05, 2.73383224e-02, 8.67331123e-03, 1.62368591e-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: -0.0018218084653246758
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52351777e-14, -1.52351777e-14,  1.00000000e+00,  2.32110638e-28,
        1.00000000e+00,  1.52351777e-14, -1.00000000e+00,  0.00000000e+00,
        1.52351777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04927861, -0.0590504 ,  0.06182596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57192483e-05, 3.69894248e-05,-1.36154467e-06, 3.72868352e-05,
 -2.57820914e-05, 1.03159800e-05,-7.75159479e-06, 2.08561784e-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,
  1.22963739e-03,-1.48273827e-03,-4.90513532e+00,-1.29370926e-04,
  3.08023087e-02, 7.19325364e-03]


--- Step 2826 ---
qpos:
[-2.50224237e-03, 8.65872078e-01,-2.37154581e-02, 4.16674380e-04,
 -2.92577174e-03, 8.61879858e-01,-2.70951248e-02, 3.13627264e-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,
  7.25130245e-03,-4.28284584e-02, 7.93569146e-02, 7.01085040e-01,
 -8.77920019e-02,-7.01925258e-01,-8.98513405e-02]

qacc:
[-1.88087286e-01, 1.19221382e+00,-8.98824201e-01,-8.81199937e+00,
 -1.03306807e-01, 6.02993005e-01,-3.15638927e+00, 7.69061219e+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,
 -3.33835355e+00, 1.61072978e+00,-3.58302722e+00, 3.90286456e+00,
 -2.05021704e+02, 5.25511574e+01]

qfrc_actuator:
[ 2.35718016e-03, 2.75183468e-02, 8.68746444e-03, 1.67327869e-03,
 -3.81481886e-05, 2.73428223e-02, 8.67463650e-03, 1.63715735e-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: -0.0018509575938983683
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49952520e-14,  1.49952520e-14,  1.00000000e+00, -2.24857583e-28,
        1.00000000e+00, -1.49952520e-14, -1.00000000e+00,  0.00000000e+00,
        1.49952520e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04923085, -0.05902785,  0.06182346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41699223e-05, 2.84149157e-05,-3.31849718e-05,-3.08444804e-05,
 -1.86692344e-05, 9.55789245e-06, 3.22166873e-06, 1.40515821e-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,
  1.44718957e-04,-3.56826048e-04,-4.90506663e+00,-9.85913342e-05,
  3.08013934e-02, 7.19163087e-03]


--- Step 2827 ---
qpos:
[-2.50283878e-03, 8.65874940e-01,-2.37154007e-02, 4.17374821e-04,
 -2.92648740e-03, 8.61879691e-01,-2.70943866e-02, 3.13568257e-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,
  7.23313090e-03,-4.28350183e-02, 7.93340141e-02, 7.00741000e-01,
 -8.76399820e-02,-7.02273935e-01,-8.99589105e-02]

qacc:
[-1.59543131e-01,-6.37173371e-02,-6.89022370e-01, 1.60827278e+00,
 -6.81338116e-02,-2.46979466e+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,
 -3.08143638e+00, 1.48840597e+00,-4.05863657e+00, 3.78936470e+00,
 -1.89397648e+02, 4.83931246e+01]

qfrc_actuator:
[ 2.34436971e-03, 2.74496661e-02, 8.66263093e-03, 1.67126225e-03,
 -4.16551061e-05, 2.73277451e-02, 8.69305523e-03, 1.60959897e-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: -0.0018534825364329224
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49748245e-14,  3.74370611e-14,  1.00000000e+00, -5.60613419e-28,
        1.00000000e+00, -3.74370611e-14, -1.00000000e+00,  0.00000000e+00,
        1.49748245e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0492266 , -0.05902519,  0.0618232 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91069986e-05,-6.10513220e-05,-2.41489390e-05,-2.55400142e-06,
 -1.23682922e-05,-8.46939484e-06, 2.12740588e-05,-2.67639820e-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,
  8.82951413e-05, 1.58003896e-04,-4.90503977e+00,-8.12388904e-05,
  3.08011275e-02, 7.18976724e-03]


--- Step 2828 ---
qpos:
[-2.50347053e-03, 8.65876975e-01,-2.37157034e-02, 4.18110637e-04,
 -2.92728310e-03, 8.61879790e-01,-2.70938691e-02, 3.13475978e-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,
  7.20351467e-03,-4.28360429e-02, 7.92932368e-02, 7.00157785e-01,
 -8.75775269e-02,-7.02862084e-01,-8.99674587e-02]

qacc:
[-1.84714127e-02,-1.39206798e-02,-1.68550692e+00, 3.48180309e+00,
 -4.24065222e-02, 2.82320669e-01, 9.06630357e-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,
 -2.86116858e+00, 1.38382309e+00,-4.46920808e+00, 3.68009100e+00,
 -1.76254648e+02, 4.48921922e+01]

qfrc_actuator:
[ 2.35485728e-03, 2.73720693e-02, 8.63005695e-03, 1.66976085e-03,
 -4.33950395e-05, 2.73543544e-02, 8.68580260e-03, 1.59361937e-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: -0.0018344096756215608
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53915654e-14, -5.29568264e-14,  1.00000000e+00,  2.40379325e-27,
        1.00000000e+00,  5.29568264e-14, -1.00000000e+00,  0.00000000e+00,
        4.53915654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04925696, -0.05903833,  0.06182472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40525400e-06,-1.16904155e-04,-4.82697624e-05,-5.00714385e-06,
 -7.61209635e-06, 2.51181161e-05,-7.31041259e-06,-1.61268315e-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,
  8.34288169e-04, 1.94801653e-04,-4.90504557e+00,-7.27114158e-05,
  3.08014583e-02, 7.18757753e-03]


--- Step 2829 ---
qpos:
[-2.50386483e-03, 8.65878427e-01,-2.37161609e-02, 4.17741707e-04,
 -2.92831039e-03, 8.61880117e-01,-2.70940336e-02, 3.13403487e-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,
  7.18483990e-03,-4.28317603e-02, 7.92741294e-02, 6.99779335e-01,
 -8.76454125e-02,-7.03244129e-01,-8.98602258e-02]

qacc:
[ 1.24542956e-01,-2.61171485e+00, 1.28573654e+01,-3.13014397e+01,
 -1.22466205e-01, 2.61233044e+00,-9.71347681e+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,
  2.73536725e+00, 1.32680435e+00, 5.41747949e+00,-5.24548246e+00,
  1.33179868e+02, 1.04574348e+02]

qfrc_actuator:
[ 2.37917638e-03, 2.73606988e-02, 8.62860234e-03, 1.61528657e-03,
 -6.18253267e-05, 2.73523686e-02, 8.64587122e-03, 1.60235299e-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: -0.0018491051505687833
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00205487e-14, -9.00616461e-14,  1.00000000e+00,  2.70370003e-27,
        1.00000000e+00,  9.00616461e-14, -1.00000000e+00,  0.00000000e+00,
        3.00205487e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076039, -0.04696675,  0.06182319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26775632e-05,-8.69710459e-05,-3.17334663e-05,-6.12538173e-05,
 -2.20403161e-05, 9.85300171e-06,-3.62061229e-05, 9.24326788e-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,
  2.21770509e-03,-1.48581125e-04,-4.90507356e+00,-6.97030922e-05,
  3.08022922e-02, 7.18500377e-03]


--- Step 2830 ---
qpos:
[-2.50362174e-03, 8.65879680e-01,-2.37165908e-02, 4.16659628e-04,
 -2.92955789e-03, 8.61880280e-01,-2.70948022e-02, 3.13346635e-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,
  7.17621275e-03,-4.28226569e-02, 7.92718713e-02, 6.99589190e-01,
 -8.78336797e-02,-7.03437171e-01,-8.96457306e-02]

qacc:
[ 3.34217059e-01,-1.80716484e+00, 9.07324274e+00,-2.13142759e+01,
 -1.16292759e-01, 1.79027297e+00,-7.36100881e+00, 1.11574990e+01,
  3.81468274e-02,-1.12675583e+00, 4.51239815e+00,-8.31970613e+00,
  4.61760635e-02,-1.57213729e-01, 3.72581946e-01,-1.18259538e+00,
  2.51190078e+00, 1.20520254e+00, 4.21233571e+00,-4.64428906e+00,
  1.22233240e+02, 9.66020704e+01]

qfrc_actuator:
[ 2.42928834e-03, 2.73891511e-02, 8.64575810e-03, 1.58341242e-03,
 -7.23336331e-05, 2.73154038e-02, 8.60463478e-03, 1.60776440e-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: -0.0018761786082174825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9587349e-14,  2.9587349e-14,  1.0000000e+00, -8.7541122e-28,
        1.0000000e+00, -2.9587349e-14, -1.0000000e+00,  0.0000000e+00,
        2.9587349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007413 , -0.04696415,  0.06182073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.09138226e-05,-2.93849785e-05,-6.84340754e-06,-3.78916183e-05,
 -2.09693221e-05,-3.85449273e-05,-4.33424991e-05, 4.76143553e-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,
  8.73749347e-04,-3.22121878e-04,-4.90501795e+00,-9.02068594e-05,
  3.08004857e-02, 7.18814596e-03]


--- Step 2831 ---
qpos:
[-2.50295102e-03, 8.65881184e-01,-2.37171396e-02, 4.16190454e-04,
 -2.93059644e-03, 8.61879830e-01,-2.70953109e-02, 3.13296552e-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,
  7.17689567e-03,-4.28091273e-02, 7.92823852e-02, 6.99573544e-01,
 -8.81340074e-02,-7.03455202e-01,-8.93310251e-02]

qacc:
[ 2.24057055e-01, 1.92461559e+00,-8.96894520e+00, 1.95833449e+01,
  1.10432636e-01,-1.39476987e+00, 3.51448092e+00,-2.31046141e+00,
 -1.64801556e-01, 2.76689575e-01, 7.56723809e-01,-7.21572632e+00,
  5.32579705e-02,-2.34394932e-01,-1.95316149e+00, 6.65217833e+00,
  2.32752042e+00, 1.10653604e+00, 3.19299190e+00,-4.13342413e+00,
  1.13168760e+02, 8.99742714e+01]

qfrc_actuator:
[ 2.44112321e-03, 2.74413455e-02, 8.65620695e-03, 1.61840654e-03,
 -4.25022210e-05, 2.72755061e-02, 8.61606812e-03, 1.61114481e-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: -0.0018799200321401033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47642321e-14,  2.95284641e-14,  1.00000000e+00, -4.35965097e-28,
        1.00000000e+00, -2.95284641e-14, -1.00000000e+00,  0.00000000e+00,
        1.47642321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00073913, -0.04696568,  0.06182041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08766973e-05, 3.27085714e-05, 2.21958207e-06, 3.27603811e-05,
  1.98729540e-05,-7.01979081e-05,-1.69667634e-06, 3.23849070e-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,
  1.80834959e-04,-2.45558131e-04,-4.90499910e+00,-7.90963100e-05,
  3.08000295e-02, 7.18944221e-03]


--- Step 2832 ---
qpos:
[-2.50237913e-03, 8.65882936e-01,-2.37173811e-02, 4.17149486e-04,
 -2.93115820e-03, 8.61878770e-01,-2.70953963e-02, 3.13284282e-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,
  7.18628217e-03,-4.27914909e-02, 7.93022256e-02, 6.99720795e-01,
 -8.85394423e-02,-7.03309652e-01,-8.89219325e-02]

qacc:
[-5.16292606e-02, 2.40843370e+00,-1.41413783e+01, 3.81860801e+01,
  2.51603151e-01,-1.21019336e+00, 1.54821155e+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,
  2.17589275e+00, 1.02671386e+00, 2.33162538e+00,-3.69458698e+00,
  1.05659942e+02, 8.44688385e+01]

qfrc_actuator:
[ 2.41219401e-03, 2.74719099e-02, 8.68051970e-03, 1.69248084e-03,
 -6.56069783e-06, 2.72521147e-02, 8.64072823e-03, 1.63108542e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018648783589135937
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97666338e-14,  5.95332676e-14,  1.00000000e+00, -1.77210498e-27,
        1.00000000e+00, -5.95332676e-14, -1.00000000e+00,  0.00000000e+00,
        2.97666338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075047, -0.04697054,  0.06182181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.43622737e-06, 5.06891215e-05, 3.24676442e-05, 7.61885314e-05,
  4.53665650e-05,-6.29629162e-05, 9.97271833e-06, 1.68829868e-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,
  1.95722379e-06, 2.97664707e-05,-4.90500779e+00,-4.17577165e-05,
  3.08004982e-02, 7.18926840e-03]


--- Step 2833 ---
qpos:
[-2.50166629e-03, 8.65884896e-01,-2.37172220e-02, 4.17950559e-04,
 -2.93145445e-03, 8.61877910e-01,-2.70955337e-02, 3.13288752e-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,
  7.20387544e-03,-4.27700049e-02, 7.93284840e-02, 7.00021181e-01,
 -8.90441793e-02,-7.03009823e-01,-8.84232374e-02]

qacc:
[ 7.40655896e-02,-1.16770326e+00, 5.23171213e+00,-8.76100021e+00,
  1.39738220e-01, 7.55207091e-01,-3.01416136e+00, 5.84772556e+00,
  3.83048372e-02,-3.02780930e+00, 1.02447480e+01,-1.39534985e+01,
  4.21240855e-02, 7.13669647e-01,-1.50284915e+00, 5.79642649e+00,
  2.05169536e+00, 9.62392385e-01, 1.60450131e+00,-3.31286010e+00,
  9.94448890e+01, 7.99068783e+01]

qfrc_actuator:
[ 2.43017229e-03, 2.74716467e-02, 8.69501963e-03, 1.68242699e-03,
 -2.80978037e-06, 2.73098812e-02, 8.65530449e-03, 1.64287198e-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: -0.0018348720731840157
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02534177e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.02534177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007725 , -0.04697806,  0.06182456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34795983e-05, 3.80070399e-05, 3.15922392e-05,-5.27937964e-06,
  2.52783323e-05, 2.53737713e-05, 3.39459281e-06, 9.76442775e-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,
  2.37546699e-04, 4.66781043e-04,-4.90503885e+00, 1.78526885e-05,
  3.08015549e-02, 7.18789680e-03]


--- Step 2834 ---
qpos:
[-2.50077722e-03, 8.65886928e-01,-2.37170579e-02, 4.18671227e-04,
 -2.93178813e-03, 8.61877690e-01,-2.70948980e-02, 3.13261203e-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,
  7.22418811e-03,-4.27619736e-02, 7.93553770e-02, 7.00403851e-01,
 -8.92718727e-02,-7.02629129e-01,-8.81889202e-02]

qacc:
[ 9.23636497e-02,-8.61407537e-02, 7.81803375e-01,-2.23307689e+00,
 -1.94695458e-02,-1.97281153e+00, 9.61306445e+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,
  6.79848547e-01,-3.36365164e+00, 1.58655445e-01, 4.12629929e+00,
  8.12460804e+01,-1.82679047e+02]

qfrc_actuator:
[ 2.44058955e-03, 2.74528264e-02, 8.68566289e-03, 1.67616902e-03,
 -1.83526716e-05, 2.73980219e-02, 8.71739434e-03, 1.63207296e-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: -0.001803991182884851
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.07712985e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.07712985e-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([ 0.00689109, -0.02203435,  0.06182742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68450611e-05, 8.68234988e-06, 2.18391827e-06,-3.64392081e-06,
 -3.54029006e-06, 1.03473215e-04, 6.80938943e-05,-9.40342418e-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,
  8.15238222e-04, 1.03884241e-03,-4.90508986e+00, 9.68309702e-05,
  3.08029218e-02, 7.18552507e-03]


--- Step 2835 ---
qpos:
[-2.50011509e-03, 8.65889204e-01,-2.37176364e-02, 4.19686992e-04,
 -2.93204941e-03, 8.61878120e-01,-2.70935573e-02, 3.13255631e-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,
  7.24706266e-03,-4.27665816e-02, 7.93803411e-02, 7.00863812e-01,
 -8.92407186e-02,-7.02172702e-01,-8.82015170e-02]

qacc:
[-1.19514166e-01, 3.00392607e+00,-1.14888275e+01, 1.76066330e+01,
  3.83593315e-02,-6.57569599e-01, 2.66343654e+00,-4.66177079e-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,
  6.40469450e-01,-3.15984800e+00,-4.82231976e-01, 4.01500208e+00,
  7.61106331e+01,-1.70618155e+02]

qfrc_actuator:
[ 2.41087328e-03, 2.74584319e-02, 8.64447497e-03, 1.68992685e-03,
 -9.76984079e-06, 2.74328584e-02, 8.75393002e-03, 1.64364850e-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: -0.00178762971261643
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21058722e-14, -9.31588083e-14,  1.00000000e+00,  5.78570904e-27,
        1.00000000e+00,  9.31588083e-14, -1.00000000e+00,  0.00000000e+00,
        6.21058722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00688516, -0.02201712,  0.06182901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16869748e-05, 1.07051248e-05,-3.92709317e-05, 1.41296286e-05,
  6.91428715e-06, 1.06356740e-04, 6.59671415e-05, 1.81817740e-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,
  1.06050816e-03, 4.71909700e-04,-4.90504312e+00, 9.94244815e-05,
  3.07988751e-02, 7.18607141e-03]


--- Step 2836 ---
qpos:
[-2.49974914e-03, 8.65891687e-01,-2.37184319e-02, 4.20482707e-04,
 -2.93240818e-03, 8.61879717e-01,-2.70927654e-02, 3.13196935e-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,
  7.25507493e-03,-4.27750323e-02, 7.93874781e-02, 7.01042369e-01,
 -8.90791196e-02,-7.01994174e-01,-8.83667740e-02]

qacc:
[-1.55496561e-01, 4.26251729e-01,-1.94203678e-01,-3.41898037e+00,
 -5.21313248e-02, 1.98137197e+00,-2.58322827e+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,
 -3.71557159e+00,-9.60669018e-01,-4.45677533e+00,-8.18566049e+00,
 -1.83618049e+02,-1.24104589e+02]

qfrc_actuator:
[ 2.39291483e-03, 2.74784908e-02, 8.63819186e-03, 1.67984555e-03,
 -2.23117029e-05, 2.74887040e-02, 8.72163434e-03, 1.61497898e-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: -0.0017750946256906847
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.12722209e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.12722209e-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([ 0.05539207, -0.03522878,  0.06183024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83028606e-05, 1.84844902e-05,-8.43639819e-06,-1.07107348e-05,
 -9.24764768e-06, 1.29700556e-04,-1.58718014e-06,-2.14789703e-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,
  1.32187530e-03,-2.30552997e-04,-4.90505495e+00, 5.76508320e-05,
  3.07982020e-02, 7.18850535e-03]


--- Step 2837 ---
qpos:
[-2.49945109e-03, 8.65894000e-01,-2.37182861e-02, 4.20428225e-04,
 -2.93289001e-03, 8.61882001e-01,-2.70924192e-02, 3.13040890e-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,
  7.24936333e-03,-4.27870240e-02, 7.93751458e-02, 7.00961498e-01,
 -8.87969858e-02,-7.02072061e-01,-8.86729620e-02]

qacc:
[-3.49917265e-02,-4.60174109e+00, 1.96732857e+01,-3.57718592e+01,
 -6.53950259e-02, 1.46901800e-01, 4.89978698e+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,
 -3.43096473e+00,-8.85261140e-01,-4.86732557e+00,-7.44185939e+00,
 -1.69334101e+02,-1.14589605e+02]

qfrc_actuator:
[ 2.39992372e-03, 2.74716560e-02, 8.68812820e-03, 1.63810525e-03,
 -2.96348256e-05, 2.74853659e-02, 8.68451673e-03, 1.56282553e-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: -0.0017866884678751915
  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([ 0.05537002, -0.03523242,  0.06182926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.48970667e-06, 1.24211334e-06, 5.23295674e-05,-4.14523463e-05,
 -1.16966229e-05, 6.78946357e-05,-1.12880623e-05,-4.70729881e-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,
  1.62238414e-04,-1.91294971e-04,-4.90501225e+00, 2.41531407e-05,
  3.07979868e-02, 7.18576587e-03]


--- Step 2838 ---
qpos:
[-2.49932787e-03, 8.65895606e-01,-2.37172438e-02, 4.19946532e-04,
 -2.93328686e-03, 8.61884091e-01,-2.70922030e-02, 3.12970988e-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,
  7.23132746e-03,-4.27930215e-02, 7.93468183e-02, 7.00618611e-01,
 -8.86136254e-02,-7.02412471e-01,-8.88701794e-02]

qacc:
[-9.08670541e-02,-4.31589361e+00, 1.58385775e+01,-2.41502851e+01,
  4.47883749e-02, 1.87948894e+00,-1.07098323e+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,
 -3.08106822e+00, 1.49855530e+00,-3.99880827e+00, 3.64056433e+00,
 -1.93204135e+02, 4.95925536e+01]

qfrc_actuator:
[ 2.38629795e-03, 2.73957211e-02, 8.71746697e-03, 1.61359298e-03,
 -1.60094934e-05, 2.74287804e-02, 8.66237519e-03, 1.60375227e-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: -0.0017803101083841422
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89757597e-15, -6.23612156e-14,  1.00000000e+00, -2.43057576e-28,
        1.00000000e+00,  6.23612156e-14, -1.00000000e+00,  0.00000000e+00,
       -3.89757597e-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([ 0.04935589, -0.05908566,  0.06182974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67252571e-05,-6.62656925e-05, 3.45883951e-05,-2.34583996e-05,
  8.08218302e-06,-2.30247022e-05,-1.11579925e-05, 4.25267507e-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,
  8.16289226e-05, 1.99008213e-04,-4.90500075e+00, 1.67552773e-05,
  3.07950848e-02, 7.18676500e-03]


--- Step 2839 ---
qpos:
[-2.49900128e-03, 8.65895812e-01,-2.37160786e-02, 4.21046678e-04,
 -2.93355634e-03, 8.61885836e-01,-2.70915583e-02, 3.12914273e-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,
  7.20183219e-03,-4.27934415e-02, 7.93008318e-02, 7.00031925e-01,
 -8.85217327e-02,-7.02996608e-01,-8.89661505e-02]

qacc:
[ 1.07270925e-01, 1.06175306e+00,-1.31487088e+01, 4.13579253e+01,
  6.74822025e-02,-1.38049064e+00, 3.70511712e+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,
 -2.86484911e+00, 1.39438103e+00,-4.41472892e+00, 3.54451129e+00,
 -1.79553584e+02, 4.59595843e+01]

qfrc_actuator:
[ 2.41368335e-03, 2.72611787e-02, 8.69861017e-03, 1.68809778e-03,
 -7.72653895e-06, 2.74118617e-02, 8.68458705e-03, 1.61031843e-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: -0.001769356812262493
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56868165e-14,  2.35302247e-14,  1.00000000e+00, -3.69114317e-28,
        1.00000000e+00, -2.35302247e-14, -1.00000000e+00,  0.00000000e+00,
        1.56868165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04937078, -0.05909214,  0.06183052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93976513e-05,-1.65506187e-04,-2.91132341e-05, 7.24036033e-05,
  1.21162366e-05,-3.03259097e-05, 1.75365037e-05, 6.01885352e-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,
  8.41030574e-04, 3.38785162e-04,-4.90502933e+00, 2.76617452e-05,
  3.07974429e-02, 7.18873448e-03]


--- Step 2840 ---
qpos:
[-2.49822274e-03, 8.65894702e-01,-2.37148147e-02, 4.23368585e-04,
 -2.93371289e-03, 8.61887445e-01,-2.70903991e-02, 3.12793484e-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,
  7.18341941e-03,-4.27890239e-02, 7.92773488e-02, 6.99652937e-01,
 -8.85660463e-02,-7.03371919e-01,-8.89368691e-02]

qacc:
[ 2.37529929e-01, 5.01654487e-01,-9.46809069e+00, 3.14218906e+01,
  5.98152398e-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,
  2.77062144e+00, 1.20940076e+00, 5.62585323e+00,-3.74471662e+00,
  1.34495338e+02, 1.10198547e+02]

qfrc_actuator:
[ 2.44761457e-03, 2.71989643e-02, 8.70450881e-03, 1.74916413e-03,
 -2.72539814e-06, 2.74189721e-02, 8.71515173e-03, 1.57890059e-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: -0.0018290827827659312
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03491738e-14, -6.06983476e-14,  1.00000000e+00,  1.84214470e-27,
        1.00000000e+00,  6.06983476e-14, -1.00000000e+00,  0.00000000e+00,
        3.03491738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077575, -0.04697725,  0.06182501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31589181e-05,-1.57687656e-04,-2.93774135e-05, 5.43742454e-05,
  1.07486760e-05,-6.01212984e-06, 2.66523668e-05,-3.19957694e-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,
  2.26200511e-03, 7.55759859e-05,-4.90507879e+00, 3.20505659e-05,
  3.08001716e-02, 7.19009757e-03]


--- Step 2841 ---
qpos:
[-2.49720786e-03, 8.65893598e-01,-2.37139575e-02, 4.24195947e-04,
 -2.93397093e-03, 8.61889321e-01,-2.70896300e-02, 3.12671597e-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,
  7.17517425e-03,-4.27801505e-02, 7.92714266e-02, 6.99464742e-01,
 -8.87355520e-02,-7.03555923e-01,-8.87926765e-02]

qacc:
[ 1.23563684e-01,-1.93125444e+00, 1.32078080e+01,-3.84282546e+01,
 -5.37947317e-02, 1.41735773e+00,-4.49826817e+00, 4.73840030e+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,
  2.54190404e+00, 1.11395331e+00, 4.39021019e+00,-3.44105014e+00,
  1.23367369e+02, 1.01183170e+02]

qfrc_actuator:
[ 2.44963808e-03, 2.72693848e-02, 8.70748332e-03, 1.67762633e-03,
 -1.74824901e-05, 2.74404286e-02, 8.69721300e-03, 1.57867013e-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: -0.0018612553428311515
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98245759e-14, -8.94737277e-14,  1.00000000e+00,  2.66851598e-27,
        1.00000000e+00,  8.94737277e-14, -1.00000000e+00,  0.00000000e+00,
        2.98245759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075273, -0.04697027,  0.06182206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25858075e-05,-2.14770039e-05,-3.13362297e-05,-7.82554965e-05,
 -9.65527961e-06, 2.21838819e-05,-1.70242116e-05,-1.90868170e-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,
  8.85451390e-04,-2.00091603e-04,-4.90503524e+00, 1.31473608e-06,
  3.08020470e-02, 7.19025308e-03]


--- Step 2842 ---
qpos:
[-2.49588773e-03, 8.65893128e-01,-2.37137885e-02, 4.24442037e-04,
 -2.93436830e-03, 8.61890798e-01,-2.70882517e-02, 3.12552008e-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,
  7.17634130e-03,-4.27671341e-02, 7.92788824e-02, 6.99453154e-01,
 -8.90210786e-02,-7.03562958e-01,-8.85420693e-02]

qacc:
[ 1.59348181e-01, 1.56081699e+00,-1.89959377e+00,-7.52252633e+00,
 -7.28490503e-02,-2.17975184e+00, 6.91217943e+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,
  2.35305248e+00, 1.03573890e+00, 3.34451273e+00,-3.16314658e+00,
  1.14146206e+02, 9.37226901e+01]

qfrc_actuator:
[ 2.46805707e-03, 2.73475794e-02, 8.69141649e-03, 1.65302207e-03,
 -2.61726312e-05, 2.73991348e-02, 8.72188141e-03, 1.57902598e-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: -0.0018692152563481862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96975702e-14, -2.96975702e-14,  1.00000000e+00,  8.81945674e-28,
        1.00000000e+00,  2.96975702e-14, -1.00000000e+00,  0.00000000e+00,
        2.96975702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074732, -0.04696834,  0.06182134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91898325e-05, 5.63797759e-05,-2.70719421e-05,-2.81334756e-05,
 -1.32705723e-05,-3.24635732e-05, 2.71267903e-05, 7.11172191e-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,
  1.81325844e-04,-1.94468764e-04,-4.90502777e+00, 4.63074037e-06,
  3.08045606e-02, 7.18915077e-03]


--- Step 2843 ---
qpos:
[-2.49468535e-03, 8.65893366e-01,-2.37142631e-02, 4.24722326e-04,
 -2.93469748e-03, 8.61891800e-01,-2.70867834e-02, 3.12472951e-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,
  7.18629882e-03,-4.27502302e-02, 7.92961798e-02, 6.99606248e-01,
 -8.94149850e-02,-7.03404739e-01,-8.81920197e-02]

qacc:
[-6.23832296e-02, 2.80278067e+00,-8.78189912e+00, 9.88560078e+00,
  3.61589441e-02,-4.33999074e-02,-2.46582689e+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,
  2.19761939e+00, 9.71868073e-01, 2.46038907e+00,-2.90712925e+00,
  1.06501534e+02, 8.75498171e+01]

qfrc_actuator:
[ 2.44289199e-03, 2.73943045e-02, 8.66436901e-03, 1.65626247e-03,
 -1.33915361e-05, 2.73562545e-02, 8.71801290e-03, 1.59745669e-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: -0.001857646635286675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.73531423e-14,  2.98825138e-14,  1.00000000e+00, -1.11620579e-27,
        1.00000000e+00, -2.98825138e-14, -1.00000000e+00,  0.00000000e+00,
        3.73531423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075601, -0.04697047,  0.06182241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12371351e-05, 7.14655728e-05,-1.97115693e-05, 4.17041989e-06,
  6.47713141e-06,-5.54463972e-05,-7.22677715e-06, 1.79904583e-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,
  6.13082068e-06, 3.14980921e-05,-4.90504725e+00, 3.59387088e-05,
  3.08074942e-02, 7.18699698e-03]


--- Step 2844 ---
qpos:
[-2.49407288e-03, 8.65894366e-01,-2.37156449e-02, 4.24014253e-04,
 -2.93509921e-03, 8.61892138e-01,-2.70854812e-02, 3.12351852e-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,
  7.19883590e-03,-4.27471631e-02, 7.93150090e-02, 6.99844483e-01,
 -8.95269053e-02,-7.03163837e-01,-8.81093152e-02]

qacc:
[-3.10156380e-01, 1.50553862e+00, 2.64394150e-01,-1.64771486e+01,
 -3.80990187e-02,-1.27808009e+00, 5.05926285e+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,
  6.44890241e-01,-3.45916338e+00, 3.82931976e-01, 4.77419740e+00,
  8.32535239e+01,-1.85242449e+02]

qfrc_actuator:
[ 2.39187738e-03, 2.74218197e-02, 8.61321138e-03, 1.60481618e-03,
 -2.33847501e-05, 2.72949049e-02, 8.69729797e-03, 1.57308290e-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: -0.0018596873376479015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98497226e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.98497226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0069144 , -0.02208972,  0.06182235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63644967e-05, 6.35787928e-05,-3.86811315e-05,-4.89860161e-05,
 -6.92550767e-06,-9.31094482e-05,-3.24522262e-05,-2.66516096e-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,
  2.55732222e-04, 4.34094464e-04,-4.90508864e+00, 9.08041399e-05,
  3.08106535e-02, 7.18394629e-03]


--- Step 2845 ---
qpos:
[-2.49406077e-03, 8.65895849e-01,-2.37175779e-02, 4.22707170e-04,
 -2.93578270e-03, 8.61891684e-01,-2.70843059e-02, 3.12100380e-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,
  7.21381723e-03,-4.27570384e-02, 7.93326396e-02, 7.00162143e-01,
 -8.93759168e-02,-7.02845829e-01,-8.82760389e-02]

qacc:
[-3.15294895e-01, 9.43855502e-01, 8.75149580e-02,-9.92609020e+00,
 -1.48256992e-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,
  6.11059674e-01,-3.23564419e+00,-2.99620864e-01, 4.46164981e+00,
  7.76535030e+01,-1.72763825e+02]

qfrc_actuator:
[ 2.36137757e-03, 2.74374713e-02, 8.58361372e-03, 1.57482465e-03,
 -4.69290914e-05, 2.72406056e-02, 8.68444776e-03, 1.50593738e-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: -0.001844460575522247
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.00961441e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.00961441e-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([ 0.00691013, -0.02207341,  0.0618238 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.73698797e-05, 4.10963744e-05,-2.29232704e-05,-2.95579097e-05,
 -2.68426030e-05,-1.14225237e-04,-3.70116809e-05,-7.27767093e-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,
  4.01781370e-04, 1.05461109e-04,-4.90502200e+00, 9.02463662e-05,
  3.08033969e-02, 7.18333351e-03]


--- Step 2846 ---
qpos:
[-2.49452276e-03, 8.65897860e-01,-2.37196504e-02, 4.21016023e-04,
 -2.93674383e-03, 8.61891004e-01,-2.70838944e-02, 3.11836635e-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,
  7.23112633e-03,-4.27791111e-02, 7.93467469e-02, 7.00554203e-01,
 -8.89778978e-02,-7.02455041e-01,-8.86772724e-02]

qacc:
[-2.48841735e-01, 2.96951082e-01, 1.57506760e+00,-8.38676989e+00,
 -1.46633143e-01, 1.57930705e+00,-5.55022541e+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,
  5.81945372e-01,-3.04931896e+00,-8.80842566e-01, 4.18095569e+00,
  7.30079408e+01,-1.62373367e+02]

qfrc_actuator:
[ 2.34343306e-03, 2.74814850e-02, 8.58471172e-03, 1.55771197e-03,
 -6.06132504e-05, 2.72619404e-02, 8.65859097e-03, 1.50294345e-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: -0.0018133608920162317
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.0612302e-14, -9.1836906e-14,  1.0000000e+00,  2.8113391e-27,
        1.0000000e+00,  9.1836906e-14, -1.0000000e+00,  0.0000000e+00,
        3.0612302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00690055, -0.02204137,  0.06182661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.52977648e-05, 6.09683776e-05, 5.74476276e-06,-1.67174686e-05,
 -2.64390905e-05,-5.32966119e-05,-5.65279188e-05,-1.05816315e-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,
  5.70930679e-04,-3.82359669e-04,-4.90501941e+00, 4.37010336e-05,
  3.08002742e-02, 7.18482126e-03]


--- Step 2847 ---
qpos:
[-2.49531856e-03, 8.65900299e-01,-2.37217514e-02, 4.20173378e-04,
 -2.93791740e-03, 8.61890505e-01,-2.70835710e-02, 3.11630261e-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,
  7.25066236e-03,-4.28127581e-02, 7.93553493e-02, 7.01016216e-01,
 -8.83460481e-02,-7.01994758e-01,-8.93006124e-02]

qacc:
[-1.75132203e-01, 2.39202168e+00,-1.12889785e+01, 2.57052982e+01,
 -1.11966100e-01, 1.66721701e+00,-8.01754329e+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,
  5.56730953e-01,-2.89359540e+00,-1.37621124e+00, 3.92650106e+00,
  6.91609832e+01,-1.53733305e+02]

qfrc_actuator:
[ 2.33313560e-03, 2.75067720e-02, 8.58628327e-03, 1.60160916e-03,
 -6.82727008e-05, 2.73284078e-02, 8.67887583e-03, 1.53778097e-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: -0.0017697094389311843
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.13673816e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.13673816e-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([ 0.00688678, -0.021997  ,  0.06183049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18930648e-05, 5.98162116e-05, 1.42965702e-05, 4.63856906e-05,
 -2.02160032e-05, 2.45513460e-05, 1.95316591e-06, 3.03967240e-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,
  7.58897873e-04,-1.00042436e-03,-4.90507079e+00,-4.33674769e-05,
  3.08004571e-02, 7.18812038e-03]


--- Step 2848 ---
qpos:
[-2.49633271e-03, 8.65902877e-01,-2.37239344e-02, 4.19559196e-04,
 -2.93923405e-03, 8.61890914e-01,-2.70833519e-02, 3.11354153e-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,
  7.25509949e-03,-4.28391196e-02, 7.93528596e-02, 7.01163077e-01,
 -8.78333963e-02,-7.01849546e-01,-8.97933697e-02]

qacc:
[-1.14559141e-01, 8.81766434e-01,-3.84325909e+00, 7.82700784e+00,
 -7.57780745e-02, 5.50001851e-02, 4.48803755e+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,
 -3.77472489e+00, 1.82138145e+00,-2.77305068e+00, 4.20109521e+00,
 -2.32142973e+02, 5.96192385e+01]

qfrc_actuator:
[ 2.32747574e-03, 2.74852059e-02, 8.57033107e-03, 1.61002279e-03,
 -7.22714796e-05, 2.74216362e-02, 8.69097034e-03, 1.50590686e-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: -0.0018271694826666948
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07619072e-14,  1.51904768e-14,  1.00000000e+00, -9.23002340e-28,
        1.00000000e+00, -1.51904768e-14, -1.00000000e+00,  0.00000000e+00,
        6.07619072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04927025, -0.05905742,  0.06182548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08654489e-05, 1.67793944e-05,-2.31879049e-07, 1.23750664e-05,
 -1.35929050e-05, 1.08672402e-04, 1.84625368e-05,-3.01593737e-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,
  9.62769617e-04,-1.72808035e-03,-4.90516936e+00,-1.66863619e-04,
  3.08032599e-02, 7.19299645e-03]


--- Step 2849 ---
qpos:
[-2.49710932e-03, 8.65905061e-01,-2.37257178e-02, 4.18741753e-04,
 -2.94045081e-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,
  7.24574114e-03,-4.28588205e-02, 7.93369117e-02, 7.01022325e-01,
 -8.74291368e-02,-7.01992714e-01,-9.01669249e-02]

qacc:
[ 1.24911883e-01,-2.05446563e+00, 7.42871634e+00,-1.12976376e+01,
  5.23145172e-02, 1.97288117e+00,-7.30742054e+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,
 -3.44886910e+00, 1.66516887e+00,-3.36451453e+00, 4.14696812e+00,
 -2.12132855e+02, 5.42500137e+01]

qfrc_actuator:
[ 2.36012176e-03, 2.74356468e-02, 8.57943475e-03, 1.59742694e-03,
 -5.63056087e-05, 2.74413595e-02, 8.68044932e-03, 1.52381049e-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: -0.001866144671669262
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48732175e-14, -1.48732175e-14,  1.00000000e+00,  2.21212599e-28,
        1.00000000e+00,  1.48732175e-14, -1.00000000e+00,  0.00000000e+00,
        1.48732175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04920433, -0.05902671,  0.06182205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26942152e-05,-3.97376603e-05, 1.29676962e-05,-1.16434346e-05,
  9.52690850e-06, 8.30024315e-05, 1.31529249e-05, 2.26143510e-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,
  5.12031812e-05,-3.10989386e-04,-4.90510165e+00,-1.25189283e-04,
  3.08030057e-02, 7.19198055e-03]


--- Step 2850 ---
qpos:
[-2.49756604e-03, 8.65907021e-01,-2.37271657e-02, 4.18453438e-04,
 -2.94132832e-03, 8.61893019e-01,-2.70830048e-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,
  7.22369546e-03,-4.28723899e-02, 7.93054645e-02, 7.00616732e-01,
 -8.71241597e-02,-7.02401483e-01,-9.04308177e-02]

qacc:
[ 1.68022704e-01,-1.43336222e-01,-2.15106309e+00, 1.09358492e+01,
  1.78832257e-01, 1.54318235e+00,-9.75204835e+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,
 -3.17183349e+00, 1.53284101e+00,-3.87485063e+00, 4.08824225e+00,
 -1.95323934e+02, 4.97351158e+01]

qfrc_actuator:
[ 2.37987748e-03, 2.74407795e-02, 8.60312317e-03, 1.62582362e-03,
 -2.85466883e-05, 2.73991139e-02, 8.67417693e-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: -0.0018761884119609384
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47935972e-14, -2.21903958e-14,  1.00000000e+00,  3.28275777e-28,
        1.00000000e+00,  2.21903958e-14, -1.00000000e+00,  0.00000000e+00,
        1.47935972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04918599, -0.05901773,  0.06182107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05696677e-05,-1.49406546e-05, 1.66743232e-05, 2.69170050e-05,
  3.22911913e-05, 7.83104233e-06, 1.32673750e-05, 5.14414496e-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,
  2.24772918e-04, 4.29672120e-04,-4.90507826e+00,-1.00318240e-04,
  3.08034178e-02, 7.19067862e-03]


--- Step 2851 ---
qpos:
[-2.49774633e-03, 8.65908884e-01,-2.37289152e-02, 4.18535243e-04,
 -2.94205472e-03, 8.61893839e-01,-2.70823472e-02, 3.10822617e-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,
  7.18991324e-03,-4.28802803e-02, 7.92567545e-02, 6.99965125e-01,
 -8.69107664e-02,-7.03056356e-01,-9.05930572e-02]

qacc:
[ 1.44785380e-01, 1.47618776e+00,-7.01164070e+00, 1.39718491e+01,
  7.99051820e-02,-1.63047592e+00, 5.85180836e+00,-8.20117358e+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,
 -2.93413499e+00, 1.41977361e+00,-4.31570424e+00, 4.02906406e+00,
 -1.81182051e+02, 4.59298149e+01]

qfrc_actuator:
[ 2.39172168e-03, 2.74254567e-02, 8.58220882e-03, 1.64265948e-03,
 -2.94965116e-05, 2.73733695e-02, 8.68796492e-03, 1.56345320e-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: -0.0018627041938750755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98013777e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.98013777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04920557, -0.05902603,  0.06182205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64162394e-05,-1.91106072e-05,-2.10178305e-05, 1.72961745e-05,
  1.43790512e-05,-1.64425694e-05, 1.88119333e-05,-5.55020809e-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,
  1.23540834e-03, 6.45072000e-04,-4.90508863e+00,-8.67994545e-05,
  3.08044171e-02, 7.18896196e-03]


--- Step 2852 ---
qpos:
[-2.49716414e-03, 8.65910375e-01,-2.37310318e-02, 4.18513922e-04,
 -2.94271331e-03, 8.61894604e-01,-2.70815588e-02, 3.10663551e-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,
  7.16748548e-03,-4.28827301e-02, 7.92323345e-02, 6.99526680e-01,
 -8.68326936e-02,-7.03496869e-01,-9.06347781e-02]

qacc:
[ 3.99627675e-01, 3.20427837e-01,-1.42259057e+00, 5.00090921e-01,
  3.58090158e-02,-5.96717175e-01, 2.35379703e+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,
  2.83861647e+00, 1.36014635e+00, 6.07252878e+00,-5.44094187e+00,
  1.38588035e+02, 1.08719017e+02]

qfrc_actuator:
[ 2.45199234e-03, 2.73800702e-02, 8.55278833e-03, 1.63475357e-03,
 -2.98665094e-05, 2.73754784e-02, 8.69573369e-03, 1.55971539e-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: -0.0019006638773036988
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92061905e-14, -2.92061905e-14,  1.00000000e+00,  8.53001562e-28,
        1.00000000e+00,  2.92061905e-14, -1.00000000e+00,  0.00000000e+00,
        2.92061905e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00072267, -0.04697066,  0.06181843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.28625951e-05,-5.96997225e-05,-3.53594880e-05,-9.11596731e-06,
  6.45364483e-06,-3.45872559e-06, 6.48909796e-06,-3.89925271e-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,
  2.90303121e-03, 4.46308476e-04,-4.90512091e+00,-8.06964962e-05,
  3.08058888e-02, 7.18674260e-03]


--- Step 2853 ---
qpos:
[-2.49603307e-03, 8.65911699e-01,-2.37330695e-02, 4.19031513e-04,
 -2.94333979e-03, 8.61895681e-01,-2.70812036e-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,
  7.15543776e-03,-4.28802580e-02, 7.92269561e-02, 6.99283506e-01,
 -8.68789359e-02,-7.03741785e-01,-9.05656011e-02]

qacc:
[ 2.87892975e-01, 6.67952123e-01,-4.97722421e+00, 1.43012111e+01,
  1.66059707e-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,
  2.59500786e+00, 1.23046512e+00, 4.76038047e+00,-4.85864151e+00,
  1.26650593e+02, 9.98569645e+01]

qfrc_actuator:
[ 2.46971175e-03, 2.74057235e-02, 8.57170822e-03, 1.66558570e-03,
 -2.98657573e-05, 2.74119752e-02, 8.68224851e-03, 1.62916629e-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: -0.0019368479193853996
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29908440e-14,  2.86605627e-14,  1.00000000e+00, -1.23214178e-27,
        1.00000000e+00, -2.86605627e-14, -1.00000000e+00,  0.00000000e+00,
        4.29908440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00069714, -0.04696616,  0.06181515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24566077e-05,-1.54341497e-05, 1.92175176e-06, 2.68733365e-05,
  3.06389195e-06, 3.57145372e-05,-1.35449106e-05, 6.94513971e-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,
  1.27009467e-03, 1.04004458e-05,-4.90504350e+00,-1.31248857e-04,
  3.08030321e-02, 7.19067182e-03]


--- Step 2854 ---
qpos:
[-2.49453724e-03, 8.65912952e-01,-2.37352130e-02, 4.19913847e-04,
 -2.94413509e-03, 8.61897098e-01,-2.70814076e-02, 3.10835568e-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,
  7.15296586e-03,-4.28732864e-02, 7.92361795e-02, 6.99220616e-01,
 -8.70403105e-02,-7.03806460e-01,-9.03934806e-02]

qacc:
[ 1.91208677e-01, 9.51947916e-01,-5.07038867e+00, 1.16049053e+01,
 -8.92588101e-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,
  2.39395539e+00, 1.12489253e+00, 3.65045116e+00,-4.36263498e+00,
  1.16770879e+02, 9.24983587e+01]

qfrc_actuator:
[ 2.47956164e-03, 2.74029336e-02, 8.56607531e-03, 1.68355459e-03,
 -4.73866190e-05, 2.74332558e-02, 8.65652254e-03, 1.74114286e-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: -0.0019472998661046875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.70134597e-14,  2.85067299e-14,  1.00000000e+00, -1.62526729e-27,
        1.00000000e+00, -2.85067299e-14, -1.00000000e+00,  0.00000000e+00,
        5.70134597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00069029, -0.04696627,  0.06181424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48608402e-05,-9.88443014e-06,-7.65032534e-06, 1.78967300e-05,
 -1.60628538e-05, 4.14012191e-05,-1.76260545e-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,
  3.59237613e-04,-1.34784422e-04,-4.90500745e+00,-1.46728485e-04,
  3.08018009e-02, 7.19263860e-03]


